TY - GEN
T1 - Prioritized motion-force control of multi-constraints for industrial manipulators
AU - Cai, Caixia
AU - Somani, Nikhil
AU - Rickert, Markus
AU - Knoll, Alois
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - To synthesize whole-body behaviors interactively, multiple tasks and constraints need to be simultaneously satisfied, including those that guarantee the constraints imposed by the robot's structure and the external environment. In this paper, we present a prioritized, multiple-task control framework that is able to control forces in systems ranging from humanoids to industrial robots. Priorities between tasks are accomplished through null-space projection. Several relevant constraints (i.e., motion constraints, joint limits, force control) are tested to evaluate the control framework. Further, we evaluate the proposed approach in two typical industrial robotics applications: grasping of cylindrical objects and welding.
AB - To synthesize whole-body behaviors interactively, multiple tasks and constraints need to be simultaneously satisfied, including those that guarantee the constraints imposed by the robot's structure and the external environment. In this paper, we present a prioritized, multiple-task control framework that is able to control forces in systems ranging from humanoids to industrial robots. Priorities between tasks are accomplished through null-space projection. Several relevant constraints (i.e., motion constraints, joint limits, force control) are tested to evaluate the control framework. Further, we evaluate the proposed approach in two typical industrial robotics applications: grasping of cylindrical objects and welding.
UR - http://www.scopus.com/inward/record.url?scp=84964474444&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2015.7418894
DO - 10.1109/ROBIO.2015.7418894
M3 - Conference contribution
AN - SCOPUS:84964474444
T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
SP - 952
EP - 957
BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Y2 - 6 December 2015 through 9 December 2015
ER -