Sciweavers

Share
ROBIO
2015
IEEE

Prioritized motion-force control of multi-constraints for industrial manipulators

3 years 6 days ago
Prioritized motion-force control of multi-constraints for industrial manipulators
— 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.
Caixia Cai, Nikhil Somani, Markus Rickert, Alois K
Added 17 Apr 2016
Updated 17 Apr 2016
Type Journal
Year 2015
Where ROBIO
Authors Caixia Cai, Nikhil Somani, Markus Rickert, Alois Knoll
Comments (0)
books