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Analysis of task decoupling characteristics of null space projector with uncertainty from modelling error

Yun, Wonbum and Lee, Jinoh and Oh, Sehoon (2022) Analysis of task decoupling characteristics of null space projector with uncertainty from modelling error. In: 2022 IEEE/SICE International Symposium on System Integration, SII 2022, pp. 963-964. 2022 IEEE/SICE International Symposium on System Integration (SII 2022), 9-12 January 2022, Narvik, Norway.

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Abstract

Methods for designing a multitask controller for redundant robots are often implemented by a null space projector. Although null-space projection-based controllers can achieve the task decoupling performance among prioritized tasks, it is vulnerable to uncertainty due to modeling errors in practice. Accordingly, this paper provides an analytical proof of the task coupling effect caused by the uncertainty and verifies it through a simulation.

Item URL in elib:https://elib.dlr.de/148175/
Document Type:Conference or Workshop Item (Speech)
Title:Analysis of task decoupling characteristics of null space projector with uncertainty from modelling error
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Yun, WonbumDGISTUNSPECIFIED
Lee, JinohJinoh.Lee (at) dlr.dehttps://orcid.org/0000-0002-4901-7095
Oh, SehoonDGISTUNSPECIFIED
Date:January 2022
Journal or Publication Title:2022 IEEE/SICE International Symposium on System Integration, SII 2022
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 963-964
Status:Published
Keywords:redundancy, robot control, dynamics
Event Title:2022 IEEE/SICE International Symposium on System Integration (SII 2022)
Event Location:Narvik, Norway
Event Type:international Conference
Event Dates:9-12 January 2022
Organizer:IEEE/SICE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lee, Dr. Jinoh
Deposited On:11 Jan 2022 16:11
Last Modified:11 Jan 2022 16:11

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