Name
Abstract | ||
|---|---|---|
The multiple task-priority inverse kinematics framework using the Moore-Penrose pseudoinverse has been shown to be asymptotically stable for the regulation problem with certain conditions on the tasks. In this article we present a theorem that extends this to the tracking problem by including an additional criterion that we term fully represented in the null-space. We show the effect of this on a simulation with a snake-like robot manipulator with 30 links for 3 compatible tasks, and an example of 2 tasks that are compatible as a regulation problem but incompatible as a tracking problem. As the tracking problem is more affected by the linearization assumption, we also include an example showing that the effect of linearization can be detrimental during tracking. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1016/j.ifacol.2018.11.528 | IFAC-PapersOnLine |
Keywords | DocType | Volume |
Inverse kinematic problem,Stability analysis,Control (closed-loop),Robot kinematics,Industrial robots,Robot arm | Conference | 51 |
Issue | ISSN | Citations |
22 | 2405-8963 | 0 |
PageRank | References | Authors |
0.34 | 0 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mathias Hauan Arbo | 1 | 1 | 2.09 |
| Jan Tommy Gravdahl | 2 | 327 | 43.60 |