Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
A Multi Objective Control Approach to Online Dual Arm Manipulation
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0002-7714-928X
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0003-2078-8854
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0001-5129-342X
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0003-2965-2953
2012 (Engelska)Ingår i: Robot Control, International Federation of Automatic Control , 2012, s. 747-752Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

In this paper, we propose a new way to exploit the redundancy of dual arm mobile manipulators when performing inherently bi-manual tasks using online controllers. Bi-manual tasks are tasks that require motion of both arms in order to be carried out efficiently, such as holding and cleaning an object, or moving an object from one hand to the other. These tasks are often associated with several constraints, such as singularity- and collision avoidance, but also a high degree of redundancy, as the relative positions of the two grippers is far more important than the absolute positions, when for example handing an object from one arm to the other. By applying a modular multi objective control framework, inspired by earlier work on sub-task control, we exploit this redundancy to form a subset of the joint space that is feasible, i.e. not violating any of the constraints. Earlier approacher added the additional tasks in terms of equality constraints, thereby reducing the dimension of the feasible subset until it was a single point. Here however, we add the additional tasks in terms of inequalities, removing parts of the feasible set rather than collapsing its dimensionality. Thus, we are able to handle an arbitrary number of constraints, instead of a number corresponding to the dimension of the feasible set (degree of redundancy). Finally, inside the feasible set we choose controls stay in the set, while simultaneously minimizing some given objective. The proposed approach is illustrated by several simulation examples.

Ort, förlag, år, upplaga, sidor
International Federation of Automatic Control , 2012. s. 747-752
Serie
IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; 10
Nyckelord [en]
Autonomous mobile robots, Redundant manipulators, Robot control, Robot kinematics, Robotic manipulators
Nationell ämneskategori
Elektroteknik och elektronik
Identifikatorer
URN: urn:nbn:se:kth:diva-124124DOI: 10.3182/20120905-3-HR-2030.00032Scopus ID: 2-s2.0-84880969676ISBN: 978-390282311-3 (tryckt)OAI: oai:DiVA.org:kth-124124DiVA, id: diva2:633065
Konferens
10th IFAC Symposium on Robot Control, SYROCO 2012; Dubrovnik; Croatia; 5 September 2012 through 7 September 2012
Anmärkning

QC 20130919

Tillgänglig från: 2013-06-26 Skapad: 2013-06-26 Senast uppdaterad: 2013-09-19Bibliografiskt granskad

Open Access i DiVA

Fulltext saknas i DiVA

Övriga länkar

Förlagets fulltextScopus

Personposter BETA

Ögren, PetterSmith, ChristianKarayiannidis, YiannisKragic, Danica

Sök vidare i DiVA

Av författaren/redaktören
Ögren, PetterSmith, ChristianKarayiannidis, YiannisKragic, Danica
Av organisationen
Datorseende och robotik, CVAP
Elektroteknik och elektronik

Sök vidare utanför DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetricpoäng

doi
isbn
urn-nbn
Totalt: 147 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf