We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that includes also hard inequality joint constraints. This is done by combining TPM with a modified version of the basic Saturation in the Null Space (SNS) algorithm. Comparative simulations are reported for the 21-DOFs Romeo humanoid robot.
Dettaglio pubblicazione
2020, 2020 I-RIM Conference, Pages 173-174
Task Priority Matrix Under Hard Joint Constraints (04b Atto di convegno in volume)
Khatib Maram I M, Al Khudir Khaled, De Luca Alessandro
ISBN: 9788894580518