Consider the practically relevant situation in which a robotic system is assigned a task to be executed in an environment that contains moving obstacles. Generating collision-free motions that allow the robot to execute the task while complying with its control input limitations is a challenging...
Motion and Trajectory Planning
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With reference to robots that are redundant for a given task, we present a novel and intuitive approach allowing to define a discrete-time joint velocity command that shares the same characteristics of a second-order inverse differential scheme, with specified properties in terms of joint...
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We present an efficient method for addressing online the inversion of differential task kinematics for redundant manipulators, in the presence of hard limits on joint space motion that can never be violated. The proposed SNS (Saturation in the Null Space) algorithm proceeds by successively...
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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...
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The Robotics group at DIAG, and the associated DIAG Robotics Lab, were established in the late 1980s with a commitment to develop innovative planning and control methods for industrial and service robots.
The main research topics are: nonlinear control of robots; control of manipulators... -
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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...
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