Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
An Behavior-based Robotics
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Robot Control: The Task Function Approach
Robot Control: The Task Function Approach
Compensation of velocity and/or acceleration joint saturation applied to redundant manipulator
Robotics and Autonomous Systems
Swedish wheeled omnidirectional mobile robots: kinematics analysis and control
IEEE Transactions on Robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Decentralized cooperative manipulation with a swarm of mobile robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Multirobot systems: a classification focused on coordination
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Manipulator motion control in operational space using joint velocity inner loops
Automatica (Journal of IFAC)
Cooperative caging and transport using autonomous aquatic surface vehicles
Intelligent Service Robotics
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In this paper we present the application of the Null-Space-based Behavioral (NSB) approach to the motion control of mobile robots with velocity saturated actuators. The NSB is a behavior-based robot control approach that uses a hierarchical organization of the tasks to guarantee that they are executed according to a desired priority: it uses a projection technique to avoid that, in the absence of actuator saturations, low-priority tasks could influence higher-priority tasks. The main contribution of this paper is the extension of the NSB approach to the case where actuator velocity saturation bounds are explicitly taken into account. The proposed solution dynamically scales task velocity commands so that the hierarchy of task priorities is preserved in spite of actuator velocity saturations. The approach has been validated on two specific case studies. In the first case, the NSB elaborates the motion directives for a single mobile robot that has to reach a target while avoiding a point obstacle1 in this case, the mission is composed of two tasks. In the second case, the NSB elaborates the motion directives for a team of six mobile robots that has orates the motion directives for a team of six mobile robots that has to entrap and escort a target1 in this case the mission is composed of four tasks. The approach is validated by numerical simulations and by experiments with real mobile robots.