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dc.contributor.authorAntonelli, Gianluca
dc.contributor.authorMoe, Signe
dc.contributor.authorPettersen, Kristin Ytterstad
dc.date.accessioned2015-06-23T12:20:21Z
dc.date.accessioned2016-09-05T09:20:50Z
dc.date.available2015-06-23T12:20:21Z
dc.date.available2016-09-05T09:20:50Z
dc.date.issued2015
dc.identifier.citationIEEE Mediterranean Conference on Control & Automation 2015nb_NO
dc.identifier.issn1934-1776
dc.identifier.issn2325-369X
dc.identifier.urihttp://hdl.handle.net/11250/2404224
dc.description.abstractInverse kinematics is an active research domain in robotics since several years due to its importance in multiple robotics application. Among the various approaches, differential inverse kinematics is widely used due to the possibility to real-time implementation. Redundant robotic systems exhibit more degrees of freedom than those strictly required to execute a given end-effector task, in such a case, multiple tasks can be handled simultaneously in, e.g, a task-priority architecture. This paper addresses the systematic extension of the multiple tasks singularity robust solution, also known as Null-space Based Behavioral control, to the case of set-based control tasks, i.e, tasks for which a range, rather than a specific value, is assigned. This is the case for several variables such as, for example, mechanical joint limits of robotic arms as well as obstacle avoidance for any kind of robots. Numerical validation are provided to support the solution proposed.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titleIncorporating set-based control within the singularity-robust multiple task-priority inverse kinematicsnb_NO
dc.typeConference objectnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2015-06-23T12:20:21Z
dc.source.pagenumber1092-1097nb_NO
dc.source.journalMediterranean Conference on Control and Automationnb_NO
dc.identifier.doi10.1109/MED.2015.7158902
dc.identifier.cristin1250248
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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