IEEE Transactions on Systems, Man and Cybernetics
Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
International Journal of Robotics Research
Matrix computations (3rd ed.)
The unit quaternion: a useful tool for inverse kinematics of robot manipulators
Systems Analysis Modelling Simulation - Special issue on mathematical modelling
Advanced Robotics: Redundancy and Optimization
Advanced Robotics: Redundancy and Optimization
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
A unifying framework for robot control with redundant DOFs
Autonomous Robots
Synthesis and control of whole-body behaviors in humanoid systems
Synthesis and control of whole-body behaviors in humanoid systems
Task Sequencing for High-Level Sensor-Based Control
IEEE Transactions on Robotics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Cooperative caging and transport using autonomous aquatic surface vehicles
Intelligent Service Robotics
Reflexive stability control framework for humanoid robots
Autonomous Robots
Robotics and Autonomous Systems
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Stability analysis of priority-based kinematic control algorithms for redundant robotic systems is approached in this paper. Starting from the classical applications in position control of manipulators, the kinematic-based approaches have lately been applied to, e.g., visual servoing and quadruped or multirobot coordination control. A common approach consists in the definition of several tasks properly combined in priority. In this paper, by resorting to a Lyapunov-based stability discussion for several prioritized inverse kinematics algorithms, sufficient conditions for the control gains and the tasks' design are given for the regulation problem. Two case studies show the practical implementation of the results.