Abstract
This paper presents a suitable solution to control the pose of the end-effector of a redundant robot along a pre-planned trajectory, while addressing an active compliant behaviour in the null-space. The orientation of the robot is expressed through a singularity-free representation form. To accomplish the task, no exteroceptive sensor is needed. While a rigorous stability proof confirms the developed theory, experimental results bolster the performance of the proposed approach.
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Notes
- 1.
In detail, the proof of Proposition 3 within [18] cannot be applied whether the orientation error is chosen as it will be defined in this paper.
- 2.
Notice that, during the experiments, a damped least-squares solution is anyway employed.
- 3.
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Acknowledgements
The research leading to these results has been supported by the RoDyMan project, which has received funding from the European Research Council FP7 Ideas under Advanced Grant agreement number 320992. The authors are solely responsible for the content of this manuscript.
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Vigoriti, F., Ruggiero, F., Lippiello, V., Villani, L. (2019). Tracking Control of Redundant Manipulators with Singularity-Free Orientation Representation and Null-Space Compliant Behaviour. In: Ficuciello, F., Ruggiero, F., Finzi, A. (eds) Human Friendly Robotics. Springer Proceedings in Advanced Robotics, vol 7. Springer, Cham. https://doi.org/10.1007/978-3-319-89327-3_2
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