TY - GEN
T1 - Multi-priority control in redundant robotic systems
AU - Sadeghian, Hamid
AU - Villani, Luigi
AU - Keshmiri, Mehdi
AU - Siciliano, Bruno
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84455203936&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048232
DO - 10.1109/IROS.2011.6048232
M3 - Conference contribution
AN - SCOPUS:84455203936
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3752
EP - 3757
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -