Vis enkel innførsel

dc.contributor.authorMoe, Signe
dc.contributor.authorTeel, Andrew R.
dc.contributor.authorAntonelli, Gianluca
dc.contributor.authorPettersen, Kristin Ytterstad
dc.date.accessioned2016-01-05T09:45:46Z
dc.date.accessioned2016-07-07T11:22:55Z
dc.date.available2016-01-05T09:45:46Z
dc.date.available2016-07-07T11:22:55Z
dc.date.issued2015
dc.identifier.citationProceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2015nb_NO
dc.identifier.issn0191-2216
dc.identifier.urihttp://hdl.handle.net/11250/2395970
dc.description.abstractInverse 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.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titleStability Analysis for Set-based Control within the Singularity-robust Multiple Task-priority Inverse Kinematics Frameworknb_NO
dc.typeChapternb_NO
dc.date.updated2016-01-05T09:45:46Z
dc.description.versionacceptedVersion
dc.source.pagenumber171 - 178nb_NO
dc.identifier.doi10.1109/CDC.2015.7402104
dc.identifier.cristin1306075
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


Tilhørende fil(er)

Thumbnail

Denne innførselen finnes i følgende samling(er)

Vis enkel innførsel