论文标题
通过在线处理可变的广义硬约束的在线处理的运动学控制冗余机器人
Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints
论文作者
论文摘要
当在关节和笛卡尔空间中同时存在硬性不平等约束时，我们为冗余机器人的任务控件的零空间（SNS）算法中的饱和度（SNS）算法提供了广义版本。这些硬界绝不应违反，以算法为单位和统一的方式对待，并且也可能会在网上进行多种变化，插入或删除。当联合/笛卡尔结合饱和时，机器人冗余将被利用以继续完成主要任务。如果不存在可行的解决方案，则将应用最佳缩放过程来实现原始任务的方向一致性。对不同机器人系统的仿真和实验结果证明了该方法的效率。提出的算法可以看作是一个通用平台，该平台易于适用于机器人在非结构化环境中运行的任何机器人应用程序，并且在线处理联合和笛卡尔限制至关重要。
We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These hard bounds should never be violated, are treated equally and in a unified way by the algorithm, and may also be varied, inserted or deleted online. When a joint/Cartesian bound saturates, the robot redundancy is exploited to continue fulfilling the primary task. If no feasible solution exists, an optimal scaling procedure is applied to enforce directional consistency with the original task. Simulation and experimental results on different robotic systems demonstrate the efficiency of the approach. The proposed algorithm can be viewed as a generic platform that is easily applicable to any robotic application in which robots operate in an unstructured environment and online handling of joint and Cartesian constraints is critical.
