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Redundancy Resolution Scheme for Manipulators Subject to Inequality Constraints

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  • Robot and Applications
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Abstract

The aim of this paper is the development of a redundancy resolution scheme for manipulators able to cope with kinematic constraints. In detail, the structure of the controller is of weighted least norm (WLN) type. The constraints are modeled as unilateral inequalities and can be general scalar functions (linear or nonlinear) of both the joint position and the joint velocity variables. In this work, a general procedure is proposed in order to include constraints of different types, namely functions of joint position or velocity only, functions of both joint position and velocity with a time dependent or time independent threshold. Simulations are performed in Matlab-Simulink environment and two tests are performed: the first employs a single 7-DOF arm, while in the second a dual-arm system composed of two 7-DOF manipulators is used. Results show that the proposed redundancy resolution scheme is capable of satisfying complex inequality constraints where other known methods fail.

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Correspondence to Daniele Proietti Pagnotta.

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Daniele Proietti Pagnotta received his Ph.D. degree in computer and automation engineering from Università Politecnica delle Marche in 2019, where he is currently a PostDoc Researcher. His research interests are in robotics, system and control theory and fault diagnosis, and the main application field consists in redundant and/or cooperative systems.

Andrea Monteriù is an Associate Professor at Università Politecnica delle Marche. His main research interests include fault diagnosis, fault tolerant control, nonlinear, dynamics and control, periodic and stochastic system control, applied in different fields including aerospace, and marine and robotic systems.

Alessandro Freddi is an Assistant Professor at Università Politecnica delle Marche and is founding member of “Syncode”, a startup operating in the field of industrial automation. His main research activities cover fault diagnosis and fault-tolerant control with applications to robotics, and development and application of assistive technologies.

Sauro Longhi is a Full Professor of Automation Engineering Università Politecnica delle Marche, where he acted as Rector from 2013 to 2019. Since May 2014, he is a President of the GARR Consortium, the Italian national computer network for universities and research. Since September 2019, he is also a President of SIDRA, the Italian Society of Researchers and Professors of Automation.

Anthony Maciejewski is a Full Professor and Head of the Department of Electrical and Computer Engineering (ECE) at Colorado State University. In 2018–2019, he served as a President of the ECE Department Head’s Association. His research has been supported by NSF, Sandia Nat’l Lab, Oak Ridge Nat’l Lab, DARPA, NASA, Nat’l Imagery and Mapping Agency, Missile Defense Agency, Non-lethal Technology Innovation Center, the NEC Corporation, Caterpillar, AT&T, H-P, Intel, Chrysler, Wolf Robotics, and the TRW Foundation.

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Pagnotta, D.P., Monteriù, A., Freddi, A. et al. Redundancy Resolution Scheme for Manipulators Subject to Inequality Constraints. Int. J. Control Autom. Syst. 21, 575–590 (2023). https://doi.org/10.1007/s12555-021-0641-8

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