Published December 10, 2020 | Version v1
Conference paper Open

Task Priority Matrix Under Hard Joint Constraints

Description

We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that includes also hard inequality joint constraints. This is done by combining TPM with a modified version of the basic Saturation in the Null Space (SNS) algorithm. Comparative simulations are reported for the 21-DOFs Romeo humanoid robot.

Notes

https://www.youtube.com/watch?v=4W0UqxNO_NA

Files

Task Priority Matrix Under Hard Joint Constraints.pdf