Home » Publication » 23504

Dettaglio pubblicazione

2020, 2020 I-RIM Conference, Pages 173-174

Task Priority Matrix Under Hard Joint Constraints (04b Atto di convegno in volume)

Khatib Maram I M, Al Khudir Khaled, De Luca Alessandro

We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that includes also hard inequality joint constraints. This is done by combining TPM with a modified version of the basic Saturation in the Null Space (SNS) algorithm. Comparative simulations are reported for the 21-DOFs Romeo humanoid robot.
ISBN: 9788894580518
© Università degli Studi di Roma "La Sapienza" - Piazzale Aldo Moro 5, 00185 Roma