Experimental results for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

Moe, Signe; Antonelli, Gianluca; Pettersen, Kristin Y.; Schrimpf, Johannes

doi:10.1109/robio.2015.7418940

Cited by 8 publications

(8 citation statements)

References 22 publications

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“…The theoretical results in this paper are further confirmed by simulations and experiments in [27]. Distance between end effector and obstacle center ε σ a Fig.…”

Section: Simulation Resultssupporting

confidence: 80%

Stability analysis for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

Moe

Teel

Antonelli

et al. 2015

2015 54th IEEE Conference on Decision and Control (CDC)

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Abstract-Inverse kinematics algorithms are commonly used in robotic systems to accomplish desired behavior, and several methods exist to ensure the achievement of several tasks simultaneously. The multiple task-priority inverse kinematics framework allows tasks to be considered in a prioritized order by projecting task velocities through the nullspaces of higher priority tasks. This paper extends this framework to handle setbased tasks, i.e. tasks with a range of valid values, in addition to equality tasks, which have a specific desired value. Examples of such tasks are joint limit and obstacle avoidance. The proposed method is proven to ensure asymptotic convergence of the equality task errors and the satisfaction of all high-priority set-based tasks. Simulations results confirm the effectiveness of the proposed approach.

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“…The theoretical results in this paper are further confirmed by simulations and experiments in [27]. Distance between end effector and obstacle center ε σ a Fig.…”

Section: Simulation Resultssupporting

confidence: 80%

Stability analysis for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

Moe

Teel

Antonelli

et al. 2015

2015 54th IEEE Conference on Decision and Control (CDC)

Self Cite

View full text Add to dashboard Cite

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“…In [17]- [28] a method is presented that allows a general number of scalar set-based tasks to be handled in this framework with a given priority within a number of equality tasks, and experimental results and practical implementation are given in [19], [28]. The results in this paper are based on these methods, and a crucial element to set-based control is the tangent cone to the set D, which is given as…”

Section: Set-based Controlmentioning

confidence: 99%

Set-Based Control for Autonomous Spray Painting

Moe

Gravdahl

Pettersen

2018

IEEE Trans. Automat. Sci. Eng.

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In this paper, a method is presented for lowering the energy consumption and/or increasing the speed of a standard manipulator spray painting a surface. The approach is based on the observation that a small angle between the spray direction and the surface normal does not affect the quality of the paint job. Recent results in set-based kinematic control are utilized to develop a switched control system, where this angle is defined as a set-based task with a maximum allowed limit. Four different set-based methods are implemented and tested on a UR5 manipulator from Universal Robots. Experimental results verify the correctness of the method, and demonstrate that the set-based approaches can substantially lower the paint time and energy consumption compared to the current standard solution. arXiv:1612.09105v1 [cs.SY] 29 Dec 2016 ≈   J J J pos 1 (q q q) +k(q q q)J J J FOV 1 (q q q) + a x (q q q)J J J dist t (q q q) J J J pos 2 (q q q) +k(q q q)J J J FOV 2 (q q q) + a y (q q q)J J J dist t (q q q) J J J dist t (q q q)   J J J spray (q q q)q q q.

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“…Another important case is that UAVs need to perform multiple tasks, especially as there exist conflicts in sub-tasks, which motivates us to carry out our research. To this end, we introduce a hierarchical architecture [2][3][4] to cope with an arbitrary number of subtasks.…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Obstacle Avoidance Strategy for Fixed-Wing UAVs Based on Quaternion Method

2022

Applied Sciences

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This work provides a generalization of the three-dimensional velocity obstacle (VO) collision avoidance strategy for nonlinear second-order underactuated systems in three-dimensional dynamic uncertain environments. A hierarchical architecture is exploited to deal with conflicting multiple subtasks, which are defined as several rotations and are parameterized by quaternions. An improved VO method considering the kinodynamic constraints of a class of fixed-wing unmanned aerial vehicles (UAV) is proposed to implement the motion planning. The position error and velocity error can be mapped onto one desired axis so that, only relying on an engine, UAVs can achieve the goal of point tracking without collision. Additionally, the performance of the closed-loop system is demonstrated through a series of simulations performed in a three-dimensional manner.

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Experimental results for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

Cited by 8 publications

References 22 publications

Stability analysis for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

Stability analysis for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

Set-Based Control for Autonomous Spray Painting

Three-Dimensional Obstacle Avoidance Strategy for Fixed-Wing UAVs Based on Quaternion Method

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