Name
Abstract | ||
|---|---|---|
A novel approach for addressing the inverse differential kinematics of redundant manipulators in the presence of hard joint position constraints is presented. A prescribed performance signal for joint limit avoidance guarantees is proposed that can be utilized with both planned and on-line generated trajectories. In the first case, it is a null space velocity for the primary task velocity mapping while in the second case, it modifies the generated reference by acting on the whole velocity space producing a feasible path to the target. Experimental results utilizing a 7DOF KUKA LWR4+ arm demonstrate the performance of the proposed kinematic controller. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1016/j.robot.2016.01.006 | Robotics and Autonomous Systems |
Keywords | Field | DocType |
Redundant robots,Inverse kinematics,Joint limits | Kernel (linear algebra),Inverse,Kinematic controller,Kinematics,Inverse kinematics,Computer science,Simulation,Differential kinematics,Manipulator,Robot | Journal |
Volume | Issue | ISSN |
79 | C | 0921-8890 |
Citations | PageRank | References |
9 | 0.62 | 20 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Abdelrahem Atawnih | 1 | 19 | 1.94 |
| Dimitrios G. Papageorgiou | 2 | 31 | 6.93 |
| Zoe Doulgeri | 3 | 332 | 47.11 |