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Experimental Results for Set-based Control within theSingularity-robust Multiple Task-priority Inverse KinematicsFramework

Moe, Signe; Antonelli, Gianluca; Pettersen, Kristin Ytterstad; Schrimpf, Johannes
Conference object, Journal article, Peer reviewed
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root10263.pdf (2.010Mb)
Permanent lenke
http://hdl.handle.net/11250/2393340
Utgivelsesdato
2015
Metadata
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  • Institutt for teknisk kybernetikk [2833]
  • Publikasjoner fra CRIStin - NTNU [26591]
Originalversjon
Proceedings of the IEEE 2015   10.1109/ROBIO.2015.7418940
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.
Utgiver
IEEE
Tidsskrift
Proceedings of the 2015 IEEE Conference on Robotics and Biomimetics

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