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Redundancy Resolution at Position Level

Albu-Schäffer, Alin and Sachtler, Arne (2023) Redundancy Resolution at Position Level. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2023.3309097. ISSN 1552-3098.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/10246229


Increasing the degrees of freedom of robotic systems makes them more versatile and flexible. This usually renders the system kinematically redundant: the main manipulation or interaction task does not fully determine its joint maneuvers. Additional constraints or objectives are required to solve the under-determined control and planning problems. The state-of-the-art approaches arrange tasks in a hierarchy and decouple lower from higher priority tasks on velocity or torque level using projectors. We develop an approach to redundancy resolution and decoupling on position level by determining subspaces of the configurations space independent of the primary task. We call them orthogonal foliations because they are, in a certain sense, orthogonal to the task self-motion manifolds. The approach provides a better insight into the topological properties of robot kinematics and control problems, allowing a global view. A condition for the existence of orthogonal foliations is derived. If the condition is not satisfied, we will still find approximate solutions by numerical optimization. Coordinates can be defined on these orthogonal foliations and can be used as additional task variables for control. We show in simulations that we can control the system without the need for projectors using these coordinates, and we validate the approach experimentally on a 7-DoF robot.

Item URL in elib:https://elib.dlr.de/197002/
Document Type:Article
Title:Redundancy Resolution at Position Level
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142201476
Sachtler, ArneUNSPECIFIEDhttps://orcid.org/0000-0003-4974-4134UNSPECIFIED
Date:11 September 2023
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
EditorsEmailEditor's ORCID iDORCID Put Code
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Compliance and impedance control; dynamics; kinematics; redundant robots
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], R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Sachtler, Arne
Deposited On:12 Sep 2023 16:02
Last Modified:12 Sep 2023 16:02

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