발표 : 박민제(박사과정)
Pasquale Chiacchio
Stefano Chiaverini
Lorenzo Sciavicco
Bruno Siciliano
Background
1
Pitfalls
Singularity
Instantaneous loss of some degree of freedom
Error Control
Single Step Least Square Solution
Feedback
Tracking Error
e E = x Ed − x E
rank m
q& E = J TE K Ee E
positive definite matrix
2
Redundancy
Redundancy ??
Typical under-determined system
Additional Constraints
Avoidance of Obstacles,
Torque Minimization,
…,
Task Space Augmentation,
Task Priority Strategy
J
&x = E q& = Jq&
J C
q& = J T Ke
Ke ∈ Null (J T )
3
Task Priority Strategy
Using Null Space of JE
q& E = J ∗E x& Ed + [I − J ∗E J E ]q& o
produce no motion
at the end-effector,
q& E = J TE K Ee E + [I − J ∗E J E ]J CT K CeC
4
Task Priority with Feedback
f C (⋅)
eC
KC *
(I−JE JE)JC
*
∫
*
eE KE JE
f E (⋅)
Experimental Result
First task
circle !!
Second task
q1 + q 2 + q 3 = −90o
5
Experimental Result
Experimental Result
6
Experimental Result