Experimental Results for Set-based Control within theSingularity-robust Multiple Task-priority Inverse KinematicsFramework
Conference object, Journal article, Peer reviewed
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http://hdl.handle.net/11250/2393340Utgivelsesdato
2015Metadata
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Sammendrag
Inverse kinematics algorithms are commonly used
in robotic systems to achieve desired behavior, and several
methods exist to ensure the achievement of numerous tasks
simultaneously. The multiple task-priority inverse kinematics
framework allows a consideration of tasks in a prioritized order
by projecting task velocities through the null-spaces of higher
priority tasks. Recent results have extended this framework
from equality tasks to also handling set-based tasks, i.e. tasks
that have an interval of valid values. The purpose of this
paper is to further investigate and experimentally validate this
algorithm and its properties. In particular, this paper presents
experimental results where a number of both set-based and
equality tasks have been implemented on the 6 Degree of
Freedom UR5 which is an industrial robotic arm from Universal
Robots. The experiments validate the theoretical results.