dc.contributor.author | Basso, Erlend Andreas | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.date.accessioned | 2021-09-10T06:15:31Z | |
dc.date.available | 2021-09-10T06:15:31Z | |
dc.date.created | 2020-09-17T08:32:14Z | |
dc.date.issued | 2020 | |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | https://hdl.handle.net/11250/2775050 | |
dc.description.abstract | Redundant robotic systems are designed to accomplish multiple tasks simultaneously. Task-priority control schemes exploit system redundancy by arranging tasks in priority and ensuring strict prioritization between tasks at different priority levels. This paper investigates the relationship between task-priority operational space control and feedback linearization of multiple-input-multiple-output (MIMO) systems. We derive sufficient conditions for input-output feedback linearization and input-to-state feedback linearization of a redundant robotic system influenced by a task-priority operational space pre-feedback control law. Moreover, we analyze the effect of incompatible tasks and provide sufficient conditions for input-output and input-to-state feedback linearizability of the controllable dimensions of incompatible lower-priority tasks. These conditions can be employed when designing the operational space tasks in order to guarantee both task space and joint space stability. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | International Federation of Automatic Control (IFAC) | en_US |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | MIMO Feedback Linearization of Redundant Robotic Systems Using Task-Priority Operational Space Control | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | publishedVersion | en_US |
dc.subject.nsi | VDP::Teknologi: 500 | en_US |
dc.subject.nsi | VDP::Technology: 500 | en_US |
dc.source.journal | IFAC-PapersOnLine | en_US |
dc.identifier.doi | http://dx.doi.org/10.1016/j.ifacol.2020.12.1550 | |
dc.identifier.cristin | 1830681 | |
dc.relation.project | Norges forskningsråd: 304667 | en_US |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
cristin.ispublished | false | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |