Paper Info
Title
Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results.
Abstract
Inverse kinematics algorithms are commonly used in robotic systems to transform tasks to joint references, and several methods exist to ensure the achievement of several tasks simultaneously. The multiple task-priority inverse kinematics framework allows tasks to be considered in a prioritized order by projecting task velocities through the null spaces of higher-priority tasks. This paper extends this framework to handle set-based tasks, i.e., tasks with a range of valid values, in addition to equality tasks, which have a specific desired value. Examples of set-based tasks are joint limit and obstacle avoidance. The proposed method is proven to ensure asymptotic convergence of the equality task errors and the satisfaction of all high-priority set-based tasks. The practical implementation of the proposed algorithm is discussed, and experimental results are presented where a number of both set-based and equality tasks have been implemented on a 6 degree of freedom UR5, which is an industrial robotic arm from Universal Robots. The experiments validate the theoretical results and confirm the effectiveness of the proposed approach.
Year
DOI
Venue
2016
10.3389/frobt.2016.00016
FRONTIERS IN ROBOTICS AND AI
Keywords
Field
DocType
robotics,kinematic control,set-based control,task-priority,redundant systems
Obstacle avoidance,Convergence (routing),Robotic arm,Degrees of freedom (statistics),Mathematical optimization,Inverse kinematics,Computer science,Simulation,Order by,Artificial intelligence,Robot,Robotics
Journal
Volume
ISSN
Citations 
3.0
2296-9144
11
PageRank 
References 
Authors
0.69
14
5
Name
Order
Citations
PageRank
Signe Moe1264.65
Antonelli Gianluca271662.09
Andrew R. Teel32847248.90
Kristin Ytterstad Pettersen440242.59
Johannes Schrimpf5110.69