A constrained control-planning strategy for redundant manipulators
Corina Barbalata, Ram Vasudevan, Matthew Johnson-Roberson
Abstract
This paper presents an interconnected control-planning strategy for redundant manipulators, subject to system and environmental constraints. The method incorporates low-level control characteristics and high-level planning components into a robust strategy for manipulators acting in complex environments, subject to joint limits. This strategy is formulated using an adaptive control rule, a computational efficient estimation of the robot's mathematical model and the nullspace of the constraints. A path is generated that takes into account the capabilities of the platform. The proposed method is computationally efficient, enabling its implementation on a real multi-body robotic system. Through experimental results with a 7 degree-of-freedom (DOF) manipulator, we demonstrate the performance of the method in real-world scenarios.
BibTeX
@inproceedings{icra2019_aconstrainedcont,
title = {A constrained control-planning strategy for redundant manipulators},
author = {Corina Barbalata and Ram Vasudevan and Matthew Johnson-Roberson},
booktitle = {ICRA 2019},
year = {2019}
}