Abstract : The paper presents a new approach to design a control law that realizes a main task and simultaneously takes supplementary constraints into account. Classically, this is done by using the redundancy formalism. If the main task does not constrain all the motions of the robot, a secondary task can be achieved by using only the remaining degrees of freedom (DOF). We propose a new general method that frees up some of the DOF constrained by the main task in addition of the remaining DOF. The general idea is to enable the motions produced by the secondary control law that help the main task to be completed faster. The main advantage is to enhance the performance of the secondary task by enlarging the number of available DOF. In a formal framework, a projection operator is built which ensures that the secondary control law does not disturb the main task. A control law can be then easily computed from the two tasks considered. Experiments that implement and validate this approach are proposed. The visual servoing framework is used to position a 6-DOF robot while simultaneously avoiding occlusions and joint limits.
Type de document :
Communication dans un congrès
IEEE Conf. on Decision and Control and European Control Conference, CDC/ECC 2005, 2005, Seville, Spain, France. pp.5366-5371, 2005
https://hal.inria.fr/inria-00351897
Contributeur : Eric Marchand
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Soumis le : lundi 12 janvier 2009 - 10:28:10
Dernière modification le : mercredi 16 mai 2018 - 11:23:03
Document(s) archivé(s) le : mardi 8 juin 2010 - 19:27:47
Nicolas Mansard, François Chaumette. Directional redundancy: a new approach of the redundancy formalism. IEEE Conf. on Decision and Control and European Control Conference, CDC/ECC 2005, 2005, Seville, Spain, France. pp.5366-5371, 2005. 〈inria-00351897〉
