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Reactive task-oriented redundancy resolution using constraint-based programming
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-4032-4830
KTH, School of Industrial Engineering and Management (ITM), Production Engineering, Production Systems.ORCID iD: 0000-0001-8679-8049
2016 (English)In: IEEE International Conference on Intelligent Robots and Systems, IEEE, 2016, 5689-5694 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
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
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-202119DOI: 10.1109/IROS.2016.7759837ISI: 000391921705108Scopus ID: 2-s2.0-85006488843ISBN: 9781509037629 (print)OAI: oai:DiVA.org:kth-202119DiVA: diva2:1077784
Conference
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, 9 October 2016 through 14 October 2016
Note

QC 20170301

Available from: 2017-03-01 Created: 2017-03-01 Last updated: 2017-03-06Bibliographically approved

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Wang, YuquanWang, Lihui

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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Language
  • de-DE
  • en-GB
  • en-US
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  • nn-NB
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  • Other locale
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Output format
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