Cristin-resultat-ID: 1830681
Sist endret: 19. april 2021, 14:07
NVI-rapporteringsår: 2021
Resultat
Vitenskapelig artikkel
2021

MIMO Feedback Linearization of Redundant Robotic Systems Using Task-Priority Operational Space Control

Bidragsytere:
  • Erlend Andreas Basso og
  • Kristin Ytterstad Pettersen

Tidsskrift

IFAC-PapersOnLine
ISSN 2405-8963
e-ISSN 2405-8963
NVI-nivå 1

Om resultatet

Vitenskapelig artikkel
Publiseringsår: 2021
Publisert online: 2021
Open Access

Klassifisering

Vitenskapsdisipliner

Teknisk kybernetikk • Teknologi

Emneord

Undervannsrobotikk • Robotikk

Beskrivelse Beskrivelse

Tittel

MIMO Feedback Linearization of Redundant Robotic Systems Using Task-Priority Operational Space Control

Sammendrag

Redundant robotic systems are designed to accomplish multiple tasks simultaneously. Task-priority control schemes exploit system redundancy by arranging tasks in priority and ensuring strict prioritization between tasks at different priority levels. This paper investigates the relationship between task-priority operational space control and feedback linearization of multiple-input-multiple-output (MIMO) systems. We derive sufficient conditions for input-output feedback linearization and input-to-state feedback linearization of a redundant robotic system influenced by a task-priority operational space pre-feedback control law. Moreover, we analyze the effect of incompatible tasks and provide sufficient conditions for input-output and input-to-state feedback linearizability of the controllable dimensions of incompatible lower-priority tasks. These conditions can be employed when designing the operational space tasks in order to guarantee both task space and joint space stability.

Bidragsytere

Erlend Andreas Basso

  • Tilknyttet:
    Forfatter
    ved Institutt for teknisk kybernetikk ved Norges teknisk-naturvitenskapelige universitet

Kristin Ytterstad Pettersen

  • Tilknyttet:
    Forfatter
    ved Institutt for teknisk kybernetikk ved Norges teknisk-naturvitenskapelige universitet
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