Clarifying the definition of redundancy as used in robotics

Conkur, Erdinc Sahin; Buckingham, Rob

doi:10.1017/s0263574797000672

Cited by 95 publications

(59 citation statements)

References 19 publications

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“…This is performed by considering the barrier functions approach [18]. Thus, the original OCP (9) can be rewritten as an OCP without inequality constraints (10), where the constraints are included in an augmented objective function a I . …”

Section: Optimization Problem Statementmentioning

confidence: 99%

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On-line Master/Slave Robot System Synchronization with Obstacle Avoidance

Portillo-Vélez¹,

Cruz-Villar²,

Rodríguez-Ángeles³

2012

SIC

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Abstract:In this work, it is proposed a controller for the synchronization of master/slave robotic systems. The aim of the proposed controller is to provide autonomy to the slave robot, via obstacle avoidance capability. The controller includes two terms. The first term is a PID controller, which is mapped through the task Jacobian from the task space to the robot joint space. The second term is the on-line solution of an optimal control problem (OCP), which considers the dynamic model of the slave robot. The performance index of the OCP pursues three objectives. The first goal is synchronization of master/slave end-effector position. The second goal is to keep the joint positions of the slave robot within feasible limits. The third goal is the obstacle avoidance of the whole arm at the slave robot side. Experimental results show the effectiveness of our proposal when tested on a writing task.

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Section: Optimization Problem Statementmentioning

confidence: 99%

“…On the other hand, it is well known that kinematic redundancy of a robot, i.e. the presence of additional degrees of freedom (DOF) to perform a task [10], allows rendering autonomy by performing additional goals, as energy consumption optimization or obstacle avoidance, see [11], [12], [13] and [14].…”

Section: Introductionmentioning

confidence: 99%

On-line Master/Slave Robot System Synchronization with Obstacle Avoidance

Portillo-Vélez¹,

Cruz-Villar²,

Rodríguez-Ángeles³

2012

SIC

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show abstract

“…This ensures max{ J + n (q) } is always known a priori allowing for all kinematic singularities to be avoided. 1 The properties of the pseudo-inverse used in the development of our controller are provided in Appendix I.…”

Section: A Kinematic Controller Designmentioning

confidence: 99%

“…While there are multiple definitions available to explain redundancy in robots [1], the most widely used form in the literature is kinematic redundancy, where the number of joints of a robot manipulator is greater than the degrees of freedom in its task-space. This property of redundant robot manipulators is essential for various applications, especially those requiring the manipulator to perform complex tasks.…”

Section: Introductionmentioning

confidence: 99%

Set-point navigation of a redundant robot in uncertain environments using finite range sensors

Kapadia

Tatlıcıoğlu

Dawson

2008

2008 47th IEEE Conference on Decision and Control

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Abstract:In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation functionbased kinematic controller is proposed to ensure the regulation of the end-effector to a desired set-point while the entire manipulator simultaneously avoids the obstacle points detected by the sensors. A joint-space controller is then utilized to ensure asymptotic tracking of the desired jointspace trajectory.

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“…A new generation of adept manipulators has recently become more widely used, combining two technological advancements: advanced force-torque sensing integrated into compact actuation units (Albu-Schäffer, Haddadin, et al, 2007) with variable stiffness (Tsagarakis, Sardellitti, & Caldwell, 2011) leading to fully compliant robot manipulators Grzesiak, Becker, & Verl, 2011) and the tendency to increase the degrees of freedom towards kinematically redundant (Conkur & Buckingham, 1997) manipulators. While these robots provide a great degree of flexibility for the realization of complex applications -for example, in industrial (Daimler AG, 2009) or service robotics (Akgun, Cakmak, Yoo, & Thomaz, 2012;Breazeal et al, 2008) scenarios -the gained flexibility generates the need for additional modeling steps and the definition of criteria for redundancy resolution.…”

Section: Introductionmentioning

confidence: 99%

A User Study on Kinesthetic Teaching of Redundant Robots in Task and Configuration Space

Wrede

Emmerich

Grünberg

et al. 2013

JHRI

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The recent advent of compliant and kinematically redundant robots poses new research challenges for human-robot interaction. While these robots provide a great degree of flexibility for the realization of complex applications, the flexibility gained generates the need for additional modeling steps and definition of criteria for redundancy resolution constraining the robot's movement generation. The explicit modeling of such criteria usually require experts to adapt the robot's movement generation subsystem. A typical way of dealing with this configuration challenge is to utilize kinesthetic teaching by guiding the robot to implicitly model the specific constraints in task and configuration space. We argue that current programming-by-demonstration approaches are not efficient for kinesthetic teaching of redundant robots and show that typical teach-in procedures are too complex for novice users. In order to enable non-experts to master the configuration and programming of a redundant robot in the presence of non-trivial constraints such as confined spaces, we propose a new interaction scheme combining kinesthetic teaching and learning within an integrated system architecture. We evaluated this approach in a user study with 49 industrial workers at HARTING, a medium-sized manufacturing company. The results show that the interaction concepts implemented on a KUKA Lightweight Robot IV are easy to handle for novice users, demonstrate the feasibility of kinesthetic teaching for implicit constraint modeling in configuration space, and yield significantly improved performance for the teach-in of trajectories in task space.

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Clarifying the definition of redundancy as used in robotics

Cited by 95 publications

References 19 publications

On-line Master/Slave Robot System Synchronization with Obstacle Avoidance

On-line Master/Slave Robot System Synchronization with Obstacle Avoidance

Set-point navigation of a redundant robot in uncertain environments using finite range sensors

A User Study on Kinesthetic Teaching of Redundant Robots in Task and Configuration Space

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