Compensation of velocity and/or acceleration joint saturation applied to redundant manipulator

Authors:
Damir Omrčen;Leon lajpah;Bojan Nemec
Affiliations:
"Jozef Stefan" Institute, Jamova 39, Ljubljana, Slovenia;"Jozef Stefan" Institute, Jamova 39, Ljubljana, Slovenia;"Jozef Stefan" Institute, Jamova 39, Ljubljana, Slovenia
Venue:
Robotics and Autonomous Systems
Year:
2007

Citing 2
Cited 3

Obstacle Avoidance for Redundant Manipulators Using Directional-Collidability/ Temporal-Collidability Measure

Journal of Intelligent and Robotic Systems
Obstacle avoidance control for redundant manipulators using collidability measure

Robotica

The Null-Space-based Behavioral Control for Mobile Robots with Velocity Actuator Saturations

International Journal of Robotics Research
Distributed-actuation mechanism for a finger-type manipulator: theory and experiments

IEEE Transactions on Robotics
Adaptive neural controller for redundant robot manipulators and collision avoidance with mobile obstacles

Neurocomputing

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Abstract

The article describes a new method for velocity/acceleration redistribution in order to compensate joint velocity and/or acceleration saturation. The method is designed for redundant manipulators. When some of the joint velocities/accelerations are in saturation other joints compensate for the lack of the velocity and the velocity in the task space remains unchanged. Without the compensation the task space error would appear. Using the compensation method we can achieve maximal velocity/acceleration in the task space while preserving joint velocity/acceleration within limits. The method is also appropriate to compensate a torque saturation. Additionally, we have introduced a condition that shows if the compensation is kinematically and mathematically possible or not.