Kinematic Control of Robots With Joint Constraints
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Published:1999-09-01
Issue:3
Volume:121
Page:433-442
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ISSN:0022-0434
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Container-title:Journal of Dynamic Systems, Measurement, and Control
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language:en
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Short-container-title:
Author:
Allotta Benedetto1, Colla Valentina1, Bioli Gianluca2
Affiliation:
1. PERCRO Lab, Scuola Superiore Sant’Anna, Via Carducci 40, I-56127 Pisa, Italy 2. Scienzia Machinale S.r.I., Via Marche 8a, I-56123 Pisa, Italy
Abstract
Kinematic control of robot manipulators requires that joint mechanical limits are taken into account in order to avoid the interruption of the task at hand if joint limits are reached. A novel approach to this problem is presented and compared with state of the art techniques. The proposed control scheme allows to explicitly include in the specification of the task position, velocity and acceleration costraints for the joints. An application to an existing redundant arm is discussed and experimental results are presented.
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference24 articles.
1. Allotta, B., Bioli, G., and Colla, V., 1996, “A Repeatable Control Scheme for Redundant Manipulators Observing Joint Mechanical Limits,” Proc. of Robotics Towards 2000: 27th Int. Sym. on Industrial Robots, pp. 521–526, Milan, Italy, October 6–8. 2. Allotta, B., Bosio, L., Chiaverini, S., and Guglielmelli, E., 1993, “A redundant arm for the URMAD robot unit,” Proc. of 6th Int. Conf. on Advanced Robotics, pp. 655–660, Tokio, Japan, November 1–2. 3. Chan T. F. , and DubeyR. V., 1995, “A Weighted Least-Norm Solution Based Scheme for Avoiding Joint Limits for Redundant Joint Manipulators,” IEEE Trans. Rob. Autom., Vol. 11, No. 2, pp. 286–292. 4. Chiacchio P. , ChiaveriniS., SciaviccoL., and SicilianoB., 1991, “Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy,” Int. J. Robot. Res., Vol. 10, No. 4, pp. 410–425. 5. Chiaverini S. , 1997, “Singularity-Robust Task-Priority Redundancy Resolution for Real-Time Kinematic Control of Robot Manipulators,” IEEE Trans. on Robotics and Automation, Vol. 13, No. 3, pp. 398–410.
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