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dc.contributor.authorMoe, Signe
dc.contributor.authorAntonelli, Gianluca
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorSchrimpf, Johannes
dc.date.accessioned2016-01-05T10:15:20Z
dc.date.accessioned2016-06-21T08:15:25Z
dc.date.available2016-01-05T10:15:20Z
dc.date.available2016-06-21T08:15:25Z
dc.date.issued2015
dc.identifier.citationProceedings of the IEEE 2015nb_NO
dc.identifier.issn1558-2256
dc.identifier.urihttp://hdl.handle.net/11250/2393340
dc.description.abstractInverse 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.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titleExperimental Results for Set-based Control within theSingularity-robust Multiple Task-priority Inverse KinematicsFrameworknb_NO
dc.typeConference objectnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2016-01-05T10:15:20Z
dc.source.pagenumber1233-1239nb_NO
dc.source.journalProceedings of the 2015 IEEE Conference on Robotics and Biomimeticsnb_NO
dc.identifier.doi10.1109/ROBIO.2015.7418940
dc.identifier.cristin1306095
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode(c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.nb_NO


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