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Title:

Redundancy Resolution at Position Level

Document type:
Zeitschriftenaufsatz
Author(s):
Albu-Schäffer, Alin; Sachtler, Arne
Abstract:
Increasing the degrees of freedom (DoFs) of robotic systems makes them more versatile and flexible. This usually renders the system kinematically redundant: the main manipulation or interaction task does not fully determine its joint maneuvers. Additional constraints or objectives are required to solve the underdetermined control and planning problems. The state-of-the-art approaches arrange tasks in a hierarchy and decouple lower priority tasks from higher priority tasks on velocity or torque l...     »
Keywords:
Task analysis , Robots , Robot kinematics , Manifolds , Redundancy , Kinematics , Jacobian matrices
Horizon 2020:
ERC Advanced Grant "M-Runners" (ID: 835284)
Journal title:
IEEE Transactions on Robotics
Year:
2023
Journal volume:
39
Year / month:
2023-09
Quarter:
3. Quartal
Month:
Sep
Journal issue:
6
Pages contribution:
4240 - 4261
Covered by:
Scopus
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1109/tro.2023.3309097
WWW:
IEEE Xplore
Publisher:
Institute of Electrical and Electronics Engineers (IEEE)
Print-ISSN:
1552-3098
E-ISSN:
1941-0468
Status:
Verlagsversion / published
Submitted:
09.01.2023
Accepted:
20.08.2023
Date of publication:
11.09.2023
Copyright statement:
©2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. DOI: 10.1109/TRO.2023.3309097
Semester:
SS 23
TUM Institution:
TUM School of Computation, Information and Technology
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