Reactive task-oriented redundancy resolution using constraint-based programming
2016 (English)In: IEEE International Conference on Intelligent Robots and Systems, IEEE, 2016, 5689-5694 p.Conference paper (Refereed)
Constraint based programming provides a versatile framework for combining several different constraints into a single robot control scheme. We take advantage of the redundancy of a robot manipulator to improve the execution of a reactive tracking task, in terms of a task-dependent measure which is a weighted sum of velocity transmissions along the current directions of motion. With inspiration from recent work, we provide analytical gradients and computable weights of the task-dependent measure, which enable us to include it in a reactive constraint based programming framework, without relying on inexact numerical approximations and manually tuning weights. The proposed approach is illustrated in a set of simulations, comparing the performance with a standard constraint based programming method.
Place, publisher, year, edition, pages
IEEE, 2016. 5689-5694 p.
Intelligent robots, Manipulators, Redundancy, Robot applications, Robots, Analytical gradients, Constraint-based, Current direction, Numerical approximations, Programming framework, Redundancy resolution, Robot manipulator, Standard constraints, Robot programming
IdentifiersURN: urn:nbn:se:kth:diva-202119DOI: 10.1109/IROS.2016.7759837ISI: 000391921705108ScopusID: 2-s2.0-85006488843ISBN: 9781509037629 OAI: oai:DiVA.org:kth-202119DiVA: diva2:1077784
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, 9 October 2016 through 14 October 2016
QC 201703012017-03-012017-03-012017-03-06Bibliographically approved