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Titel:

Redundancy Resolution at Position Level

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
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...     »
Stichworte:
Task analysis , Robots , Robot kinematics , Manifolds , Redundancy , Kinematics , Jacobian matrices
Horizon 2020:
ERC Advanced Grant "M-Runners" (ID: 835284)
Zeitschriftentitel:
IEEE Transactions on Robotics
Jahr:
2023
Band / Volume:
39
Jahr / Monat:
2023-09
Quartal:
3. Quartal
Monat:
Sep
Heft / Issue:
6
Seitenangaben Beitrag:
4240 - 4261
Nachgewiesen in:
Scopus
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1109/tro.2023.3309097
WWW:
IEEE Xplore
Verlag / Institution:
Institute of Electrical and Electronics Engineers (IEEE)
Print-ISSN:
1552-3098
E-ISSN:
1941-0468
Status:
Verlagsversion / published
Eingereicht (bei Zeitschrift):
09.01.2023
Angenommen (von Zeitschrift):
20.08.2023
Publikationsdatum:
11.09.2023
Copyright Informationen:
©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 Einrichtung:
TUM School of Computation, Information and Technology
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