The increasing interest in autonomous robots with a high number of degrees of freedom for industrial applications and service robotics demands control algorithms to handle multiple tasks as well as hard constraints efficiently. This paper presents a general framework in which both kinematic (velocity- or acceleration-based) and dynamic (torque-based) control of redundant robots are handled in a unified fashion. The framework allows for the specification of redundancy resolution problems featuring a hierarchy of arbitrary (equality and inequality) constraints, arbitrary weighting of the control effort in the cost function and an additional input used to optimize possibly remaining redundancy. To solve such problems, a generalization of the Saturation in the Null Space (SNS) algorithm is introduced, which extends the original method according to the features required by our general control framework. Variants of the developed algorithm are presented, which ensure both efficient computation and optimality of the solution. Experiments on a KUKA LBRiiwa robotic arm, as well as simulations with a highly redundant mobile manipulator are reported.
翻译:对工业应用和服务机器人自由程度高的自主机器人的兴趣日益增加,要求控制算法来有效处理多种任务和困难限制。本文件提出了一个总体框架,用以以统一的方式处理运动(速度或加速基)和动态(加速基)控制冗余机器人的问题。该框架允许对冗余解答问题作出具体规定,其特点是任意(平等和不平等)限制等级、在成本函数中任意加权控制努力和用于优化剩余可能剩余冗余的附加投入。为了解决这些问题,引入了Nullspace(SNS)算法的普及化,根据我们一般控制框架要求的特点扩展了原始方法。介绍了已开发的算法的变式,确保了解决办法的高效计算和最佳性。报告了KUKA LBRIiiwa机器人臂的实验,以及用高度冗余的移动操纵器进行模拟的情况。