Abstract
Methods for designing a multitask controller for redundant robots are often implemented by a null space projector. Although null-space projection-based controllers can achieve the task decoupling performance among prioritized tasks, it is vulnerable to uncertainty due to modeling errors in practice. Accordingly, this paper provides an analytical proof of the task coupling effect caused by the uncertainty and verifies it through a simulation.
| Original language | English |
|---|---|
| Title of host publication | 2022 IEEE/SICE International Symposium on System Integration, SII 2022 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 963-964 |
| Number of pages | 2 |
| ISBN (Electronic) | 9781665445405 |
| DOIs | |
| State | Published - 2022 |
| Event | 2022 IEEE/SICE International Symposium on System Integration, SII 2022 - Virtual, Narvik, Norway Duration: 9 Jan 2022 → 12 Jan 2022 |
Publication series
| Name | 2022 IEEE/SICE International Symposium on System Integration, SII 2022 |
|---|
Conference
| Conference | 2022 IEEE/SICE International Symposium on System Integration, SII 2022 |
|---|---|
| Country/Territory | Norway |
| City | Virtual, Narvik |
| Period | 9/01/22 → 12/01/22 |
Bibliographical note
Publisher Copyright:© 2022 IEEE.
Fingerprint
Dive into the research topics of 'Analysis of task decoupling characteristics of null space projector with uncertainty from modelling error'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver