dc.contributor.author | Antonelli, Gianluca | |
dc.contributor.author | Moe, Signe | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.date.accessioned | 2015-06-23T12:20:21Z | |
dc.date.accessioned | 2016-09-05T09:20:50Z | |
dc.date.available | 2015-06-23T12:20:21Z | |
dc.date.available | 2016-09-05T09:20:50Z | |
dc.date.issued | 2015 | |
dc.identifier.citation | IEEE Mediterranean Conference on Control & Automation 2015 | nb_NO |
dc.identifier.issn | 1934-1776 | |
dc.identifier.issn | 2325-369X | |
dc.identifier.uri | http://hdl.handle.net/11250/2404224 | |
dc.description.abstract | Inverse 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.iso | eng | nb_NO |
dc.publisher | IEEE | nb_NO |
dc.title | Incorporating set-based control within the singularity-robust multiple task-priority inverse kinematics | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.date.updated | 2015-06-23T12:20:21Z | |
dc.description.version | acceptedVersion | |
dc.source.pagenumber | 1092-1097 | nb_NO |
dc.source.journal | Mediterranean Conference on Control and Automation | nb_NO |
dc.identifier.doi | 10.1109/MED.2015.7158902 | |
dc.identifier.cristin | 1250248 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_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 |