Related papers: Redundancy Resolution in Kinematic Control of Seri…
Recently, a time-varying quadratic programming (QP) framework that describes the tracking operations of redundant robot manipulators is introduced to handle the kinematic resolutions of many robot control tasks. Based on the generalization…
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
This paper proposes a robust dual-quaternion based H-infinity task-space kinematic controller for robot manipulators. To address the manipulator liability to modeling errors, uncertainties, exogenous disturbances, and their influence upon…
A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the…
This paper presents redundancy resolution and disturbance rejection via torque optimization in Hybrid Cable-Driven Robots (HCDRs). To begin with, we initiate a redundant HCDR for nonlinear whole-body system modeling and model reduction.…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
Concentric Tube Robots (CTR) have the potential to enable effective minimally invasive surgeries. While extensive modeling and control schemes have been proposed in the past decade, limited efforts have been made to improve the trajectory…
We address the problem of stability of motor actions implemented by the central nervous system based on simple algorithms potentially reflecting physical (including physiological) processes within the body. A number of conceptually simple…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
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…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a widespread multi-task technique in robotics and animation: tasks…
The general inverse kinematics (IK) problem of a manipulator, namely that of acquiring the self-motion manifold (SMM) of all admissible joint angles for a desired end-effector pose, plays a vital role in robotics modeling, planning and…
We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These…
Robotic tasks, like reaching a pre-grasp configuration, are specified in the end effector space or task space, whereas, robot motion is controlled in joint space. Because of inherent actuation errors in joint space, robots cannot achieve…
In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and…
Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be…
Nonlinear optimal control problems for trajectory planning with obstacle avoidance present several challenges. While general-purpose optimizers and dynamic programming methods struggle when adopted separately, their combination enabled by a…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…