This paper presents a dynamic level control algorithm to meet simultaneously multiple desired tasks based on allocated priorities for redundant robotic systems. It is shown that this algorithm can be treated as a general framework to achieve control over the whole body of the robot and some of the previously developed results are formalized using this approach. Null-space impedance control is proposed as one of the main results of using this method and is evaluated by means of computer simulation. © 2011 IEEE.
Multi-priority control in redundant robotic systems / H., Sadeghian; Villani, Luigi; M., Keshmiri; Siciliano, Bruno. - (2011), pp. 3752-3757. (Intervento presentato al convegno IEEE/RSJ International Conference on Intelligent Robots and Systems tenutosi a San Francisco, CA nel September) [10.1109/IROS.2011.6094609].
Multi-priority control in redundant robotic systems
VILLANI, LUIGI;SICILIANO, BRUNO
2011
Abstract
This paper presents a dynamic level control algorithm to meet simultaneously multiple desired tasks based on allocated priorities for redundant robotic systems. It is shown that this algorithm can be treated as a general framework to achieve control over the whole body of the robot and some of the previously developed results are formalized using this approach. Null-space impedance control is proposed as one of the main results of using this method and is evaluated by means of computer simulation. © 2011 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
