文章基本信息

标题：Stability of the Tracking Problem with Task-Priority Inverse Kinematics ⁎
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作者：Mathias Hauan Arbo ; Jan Tommy Gravdahl
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：22
页码：121-125
DOI：10.1016/j.ifacol.2018.11.528
语种：English
出版社：Elsevier
摘要：AbstractThe multiple task-priority inverse kinematics framework using the Moore-Penrose pseudoinverse has been shown to be asymptotically stable for the regulation problem with certain conditions on the tasks. In this article we present a theorem that extends this to the tracking problem by including an additional criterion that we term fully represented in the null-space. We show the effect of this on a simulation with a snake-like robot manipulator with 30 links for 3 compatible tasks, and an example of 2 tasks that are compatible as a regulation problem but incompatible as a tracking problem. As the tracking problem is more affected by the linearization assumption, we also include an example showing that the effect of linearization can be detrimental during tracking.
关键词：KeywordsInverse kinematic problemStability analysisControl (closed-loop)Robot kinematicsIndustrial robotsRobot arm