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Document type:
Konferenzbeitrag 
Author(s):
Cai, Caixia; Somani, Nikhil; Rickert, Markus; Knoll, Alois 
Title:
Prioritized Motion-Force Control of Multi-Constraints for Industrial Manipulators 
Abstract:
To synthesize whole-body behaviors interactively, multiple tasks and constraints need to be simultaneously controlled, including those that guarantee that the constraints imposed by the robot's structure and the external environment are satisfied. In this paper, we present a prioritized, multiple-task control framework that is able to control forces in systems ranging from humanoids to industrial robots. Priorities between tasks are accomplished through null-space projection. Several relevant co...    »
 
Book / Congress title:
Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO) 
Year:
2015 
Month:
Dec 
Pages:
952--957