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Kinematic Control of Redundant Robots in Changing Task Space

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 540))

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Abstract

In the paper we propose a task-space kinematic velocity controller for tasks which do not require motion in all spatial directions and these directions also change over time. For that, the controller is mapped from the world space to the task space which may change during the task execution. To simplify the mapping we propose that the desired task location is the origin of the task frame. Effectiveness of the proposed control approach is illustrated by an experiment on a dual arm robot system performing a ring task.

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Author information

Authors and Affiliations

  1. Jožef Stefan Institute, Ljubljana, Slovenia

    Leon Žlajpah

Authors
  1. Leon Žlajpah
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Corresponding author

Correspondence to Leon Žlajpah .

Editor information

Editors and Affiliations

  1. Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodić

  2. Faculty of Automatic Control and Computers, University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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Žlajpah, L. (2017). Kinematic Control of Redundant Robots in Changing Task Space. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_1

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  • DOI: https://doi.org/10.1007/978-3-319-49058-8_1

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-49057-1

  • Online ISBN: 978-3-319-49058-8

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