• norsk
    • English
  • norsk 
    • norsk
    • English
  • Logg inn
Vis innførsel 
  •   Hjem
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • Vis innførsel
  •   Hjem
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • Vis innførsel
JavaScript is disabled for your browser. Some features of this site may not work without it.

Stability Analysis for Set-based Control within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework

Moe, Signe; Teel, Andrew R.; Antonelli, Gianluca; Pettersen, Kristin Ytterstad
Conference object, Peer reviewed
Thumbnail
Åpne
root38167.pdf (542.7Kb)
Permanent lenke
http://hdl.handle.net/11250/2395970
Utgivelsesdato
2015
Metadata
Vis full innførsel
Samlinger
  • Institutt for teknisk kybernetikk [2275]
  • Publikasjoner fra CRIStin - NTNU [21821]
Originalversjon
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2015   10.1109/CDC.2015.7402104
Sammendrag
Inverse kinematics algorithms are commonly used in robotic systems to accomplish desired behavior, and several methods exist to ensure the achievement of several tasks simultaneously. The multiple task-priority inverse kinematics framework allows tasks to be considered in a prioritized order by projecting task velocities through the nullspaces of higher priority tasks. This paper extends this framework to handle set-based tasks, i.e. tasks with a range of valid values, in addition to equality tasks, which have a specific desired value. Examples of such tasks are joint limit and obstacle avoidance. The proposed method is proven to ensure asymptotic convergence of the equality task errors and the satisfaction of all high-priority set-based tasks. Simulations results confirm the effectiveness of the proposed approach.
Utgiver
IEEE

Kontakt oss | Gi tilbakemelding

Personvernerklæring
DSpace software copyright © 2002-2019  DuraSpace

Levert av  Unit
 

 

Bla i

Hele arkivetDelarkiv og samlingerUtgivelsesdatoForfattereTitlerEmneordDokumenttyperTidsskrifterDenne samlingenUtgivelsesdatoForfattereTitlerEmneordDokumenttyperTidsskrifter

Min side

Logg inn

Statistikk

Besøksstatistikk

Kontakt oss | Gi tilbakemelding

Personvernerklæring
DSpace software copyright © 2002-2019  DuraSpace

Levert av  Unit