We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy resolution at the velocity level. In addition to hard bounds on joint space motion, we consider also Cartesian box constraints that cannot be violated at any time. The modified algorithm combines all bounds into a single augmented generalised vector and gives equal, highest priority to all inequality constraints. When needed, feasibility of the original task is enforced by the SNS task scaling procedure. Simulation results are reported for a 6R planar robot.
翻译:我们提出了一个改进版的 Null Space (SNS) 饱和算法, 用于在速度水平上解析冗余分辨率。 除了联合空间运动的硬界限外, 我们还考虑Cartesian 盒式限制, 在任何时候都不可违反。 修改后算法将所有界限合并为一个单一的扩大的通用矢量, 并给予所有不平等限制以平等、 最高优先。 必要时, SNS 任务的可行性由 SNS 任务缩放程序实施。 模拟结果被报告为 6R 平板机器人 。