5 accepted papers
We present a generalized version of the Saturation in the Null Space (SNS) algorithm for 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
We propose a new approach for executing the main Cartesian tasks assigned to a redundant robot while guaranteeing whole-body collision avoidance. The robot degrees of freedom are fully utilized by introducing relaxed constraints in the definition of operational and collision avoidance tasks. Desired
We consider the known phenomenon of torque oscillations and motion instabilities that occur in redundant robots during the execution of sufficiently long Cartesian trajectories when the joint torque is instantaneously minimized. In the framework of online local redundancy resolution methods, we prop
The problem of minimizing the transfer time along a given Cartesian path for redundant robots can be approached in two steps, by separating the generation of a joint path associated to the Cartesian path from the exact minimization of motion time under kinematic/dynamic bounds along the obtained par
In the framework of Human-Robot Collaboration, a robot and a human operator may need to move in close coordination within the same workspace. A contactless coordinated motion can be achieved using vision, mounting a camera either on the robot end-effector or on the human. We consider here one instan…