Name
Abstract | ||
|---|---|---|
Redundant robots performing multiple tasks of different priority levels are often handled by hierarchical control frameworks. This paper proposes a general hierarchical control approach that can handle not only a single standard lexicographic hierarchy, but also a complex priority network involving both strict and non-strict task priorities. In this approach, priorities can be defined by pairs of tasks and are encoded by a priority matrix. Priority modulations are achieved by the regulation of a novel generalized projector, which takes the priority matrix as input. This projector allows a task to be completely projected in the null-space of a set of tasks, while partially projected in those of some other tasks. Such a projector can be used to achieve multiple priority rearrangements simultaneously. The effectiveness of this approach is demonstrated on a KUKA LWR robot performing task priority rearrangements as well as task insertion and deletion. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ICRA.2015.7139265 | IEEE International Conference on Robotics and Automation |
Field | DocType | Volume |
Kernel (linear algebra),Priority ceiling protocol,Matrix (mathematics),Control engineering,Projector,Real-time computing,Theoretical computer science,Lexicographical order,Robot,Hierarchy,Trajectory,Mathematics | Conference | 2015 |
Issue | ISSN | Citations |
1 | 1050-4729 | 4 |
PageRank | References | Authors |
0.47 | 20 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| mingxing liu | 1 | 15 | 1.81 |
| Sovannara Hak | 2 | 35 | 2.70 |
| vincent padois | 3 | 168 | 15.26 |