Set-based Tasks within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework: General Formulation, Stability Analysis and Experimental Results

Set-based Tasks within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework: General Formulation, Stability Analysis and Experimental Results

Blog Article

Inverse click here kinematics algorithms are commonly used in robotic systems to transform tasks to joint references, and several methods exist to ensure the achievement of several tasks simultaneously.The multiple task-priority inverse kinematicsframework allows tasks to be considered in a prioritized order by projecting task velocities through the nullspaces of higherpriority tasks.This paper extends this framework to handle setbased tasks, i.e.tasks with a range of valid values, in addition to equality tasks, which have a specific desired value.

Examples of set-based tasks are joint limit and obstacle avoidance.The proposed method is proven to ensure verona wig asymptotic convergence of the equality task errors and the satisfaction of all high-priority set-based tasks.The practical implementation of the proposed algorithm is discussed, and experimental results are presented where a number of both set-based and equality tasks have been implemented on a 6 degree of freedom UR5 which is an industrial robotic arm from Universal Robots.The experiments validate thetheoretical results and confirm the effectiveness of the proposed approach.