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Yun, Wonbum und Lee, Jinoh und 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, Seiten 963-964. 2022 IEEE/SICE International Symposium on System Integration (SII 2022), 9-12 January 2022, Narvik, Norway. doi: 10.1109/SII52469.2022.9708792. ISBN 978-166544540-5. ISSN 2474-2317.
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Offizielle URL: https://ieeexplore.ieee.org/document/9708792
Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/148175/ | ||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
| Titel: | Analysis of task decoupling characteristics of null space projector with uncertainty from modelling error | ||||||||||||||||
| Autoren: |
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| Datum: | Januar 2022 | ||||||||||||||||
| Erschienen in: | 2022 IEEE/SICE International Symposium on System Integration, SII 2022 | ||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||
| Open Access: | Nein | ||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||
| DOI: | 10.1109/SII52469.2022.9708792 | ||||||||||||||||
| Seitenbereich: | Seiten 963-964 | ||||||||||||||||
| ISSN: | 2474-2317 | ||||||||||||||||
| ISBN: | 978-166544540-5 | ||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||
| Stichwörter: | redundancy, robot control, dynamics | ||||||||||||||||
| Veranstaltungstitel: | 2022 IEEE/SICE International Symposium on System Integration (SII 2022) | ||||||||||||||||
| Veranstaltungsort: | Narvik, Norway | ||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
| Veranstaltungsdatum: | 9-12 January 2022 | ||||||||||||||||
| Veranstalter : | IEEE/SICE | ||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||
| HGF - Programmthema: | Robotik | ||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
| DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Laufroboter/Lokomotion [RO] | ||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
| Hinterlegt von: | Lee, Dr. Jinoh | ||||||||||||||||
| Hinterlegt am: | 11 Jan 2022 16:11 | ||||||||||||||||
| Letzte Änderung: | 26 Jan 2023 11:59 |
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