This paper tackles the problem of controlling the position and orientation, expressed in a singularity-free representation form, of the end-effector of a redundant robot, while addressing an active compliant behaviour within the null-space. The manuscript extends the work in [1] by explicitly addressing the orientation part. In order to successfully accomplish the task, a dynamic controller is designed without need of any exteroceptive sensors information. A rigorous stability analysis is provided to confirm the developed theory. Experiments are finally carried out to bolster the performance of the proposed approach.

Control of redundant robot arms with null-space compliance and singularity-free orientation representation

VIGORITI, FABIO;Ruggiero, Fabio
;
Lippiello, Vincenzo;Villani, Luigi
2018

Abstract

This paper tackles the problem of controlling the position and orientation, expressed in a singularity-free representation form, of the end-effector of a redundant robot, while addressing an active compliant behaviour within the null-space. The manuscript extends the work in [1] by explicitly addressing the orientation part. In order to successfully accomplish the task, a dynamic controller is designed without need of any exteroceptive sensors information. A rigorous stability analysis is provided to confirm the developed theory. Experiments are finally carried out to bolster the performance of the proposed approach.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/696808
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