Multi-Priority Control in Redundant Robotic Systems

被引：0

作者：

Sadeghian, Hamid ^{[1
,2
]}

Villani, Luigi ^{[1
]}

Keshmiri, Mehdi ^{[2
]}

Siciliano, Bruno ^{[1
]}

机构：

[1] Univ Naples Federico II, PRISMA Lab, Dipartimento Informat & Sistemist, Naples, Italy

[2] Isfahan Univ Technol, Dept Mech Engn, Esfahan, Iran

来源：

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2011年

关键词：

INVERSE KINEMATIC SOLUTIONS; MANIPULATORS;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：3752 / 3757

页数：6

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