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.
2021, 2021 I-RIM Conference, Pages 138-140
Motion Control of Redundant Robots with Generalised Inequality Constraints (04b Atto di convegno in volume)
Kazemipour Amirhossein, Khatib Maram I M, Al Khudir Khaled, De Luca Alessandro
Gruppo di ricerca: Robotics