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null space impedance control

Robotica (1)

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Dynamic multi-priority control in redundant robotic systems 1
Hamid Sadeghian, Luigi Villani, Mehdi Keshmiri, Bruno Siciliano
Journal:

Robotica / Volume 31 / Issue 7 / October 2013

Published online by Cambridge University Press:

22 May 2013, pp. 1155-1167
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This paper presents a dynamic-level control algorithm to meet simultaneously multiple desired tasks based on allocated priorities for redundant robotic systems. It is shown that this algorithm can be treated as a general framework to achieve control over the whole body of the robot. The control law is an extension of the well-known acceleration-based control to the redundant robots, and considers also possible interactions with the environment occurring at any point of the robot body. The stability of this algorithm is shown and some of the previously developed results are formulated using this approach. To handle the interaction on robot body, null space impedance control is developed within the multi-priority framework. The effectiveness of the proposed approaches is evaluated by means of computer simulation.