We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy resolution at the velocity level. In addition to hard bounds on joint space motion, we consider also Cartesian box constraints that cannot be violated at any time. The modified algorithm combines all bounds into a single augmented generalised vector and gives equal, highest priority to all inequality constraints. When needed, feasibility of the original task is enforced by the SNS task scaling procedure. Simulation results are reported for a 6R planar robot.
@article{arxiv.2110.01689,
title = {Motion Control of Redundant Robots with Generalised Inequality Constraints},
author = {Amirhossein Kazemipour and Maram Khatib and Khaled Al Khudir and Alessandro De Luca},
journal= {arXiv preprint arXiv:2110.01689},
year = {2021}
}
Comments
3 pages, 4 figures, 2021 Italian Conference on Robotics and Intelligent Machines (2021 I-RIM)