Abstract
This paper evaluates the effectiveness of a proposed task-prioritization scheme for redundant robots. The scheme has an advantage of a non-inverse computation of the projection matrix. This feature is important because the projection matrix for redundant robots is singular all the time, except when the Jacobian is zero. The evaluation is based on how task prioritization is managed through singularities, despite carrying out maximum load of task requirements. In particular, the redundant robot should be able to: (1) utilize the lost degree of freedom in the world space for the newly prioritized singularity-escape task in the null space, (2) set this new task as the highest-priority task in the null space, and (3) maintain the hierarchy of task prioritization of the previously assigned tasks. To proceed with the evaluation, we first established the maximum number of prioritized tasks that a given redundant robot can accommodate. Then we assigned this maximum number of tasks on the robot, forced it to assume a singular configuration, and evaluated its task prioritization performance. This scenario is very useful when singularity cannot be avoided during task execution, e.g., avoiding obstacles in the null space such that the robot is forced to assume a singular configuration while fully loaded with prioritized tasks.
| Original language | English |
|---|---|
| Title of host publication | IEEE TENCON 2012 |
| Subtitle of host publication | Sustainable Development Through Humanitarian Technology |
| DOIs | |
| Publication status | Published - Dec 1 2012 |
| Event | 2012 IEEE Region 10 Conference: Sustainable Development Through Humanitarian Technology, TENCON 2012 - Cebu, Philippines Duration: Nov 19 2012 → Nov 22 2012 |
Other
| Other | 2012 IEEE Region 10 Conference: Sustainable Development Through Humanitarian Technology, TENCON 2012 |
|---|---|
| Country | Philippines |
| City | Cebu |
| Period | 11/19/12 → 11/22/12 |
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All Science Journal Classification (ASJC) codes
- Computer Science Applications
- Electrical and Electronic Engineering
Cite this
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Guaranteeing task prioritization for redundant robots given maximum number of tasks and singularities. / Jamisola, Rodrigo S.; Chang, Pyung Hun; Lee, Jinoh.
IEEE TENCON 2012: Sustainable Development Through Humanitarian Technology. 2012. 6412276.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Guaranteeing task prioritization for redundant robots given maximum number of tasks and singularities
AU - Jamisola, Rodrigo S.
AU - Chang, Pyung Hun
AU - Lee, Jinoh
PY - 2012/12/1
Y1 - 2012/12/1
N2 - This paper evaluates the effectiveness of a proposed task-prioritization scheme for redundant robots. The scheme has an advantage of a non-inverse computation of the projection matrix. This feature is important because the projection matrix for redundant robots is singular all the time, except when the Jacobian is zero. The evaluation is based on how task prioritization is managed through singularities, despite carrying out maximum load of task requirements. In particular, the redundant robot should be able to: (1) utilize the lost degree of freedom in the world space for the newly prioritized singularity-escape task in the null space, (2) set this new task as the highest-priority task in the null space, and (3) maintain the hierarchy of task prioritization of the previously assigned tasks. To proceed with the evaluation, we first established the maximum number of prioritized tasks that a given redundant robot can accommodate. Then we assigned this maximum number of tasks on the robot, forced it to assume a singular configuration, and evaluated its task prioritization performance. This scenario is very useful when singularity cannot be avoided during task execution, e.g., avoiding obstacles in the null space such that the robot is forced to assume a singular configuration while fully loaded with prioritized tasks.
AB - This paper evaluates the effectiveness of a proposed task-prioritization scheme for redundant robots. The scheme has an advantage of a non-inverse computation of the projection matrix. This feature is important because the projection matrix for redundant robots is singular all the time, except when the Jacobian is zero. The evaluation is based on how task prioritization is managed through singularities, despite carrying out maximum load of task requirements. In particular, the redundant robot should be able to: (1) utilize the lost degree of freedom in the world space for the newly prioritized singularity-escape task in the null space, (2) set this new task as the highest-priority task in the null space, and (3) maintain the hierarchy of task prioritization of the previously assigned tasks. To proceed with the evaluation, we first established the maximum number of prioritized tasks that a given redundant robot can accommodate. Then we assigned this maximum number of tasks on the robot, forced it to assume a singular configuration, and evaluated its task prioritization performance. This scenario is very useful when singularity cannot be avoided during task execution, e.g., avoiding obstacles in the null space such that the robot is forced to assume a singular configuration while fully loaded with prioritized tasks.
UR - http://www.scopus.com/inward/record.url?scp=84873959926&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84873959926&partnerID=8YFLogxK
U2 - 10.1109/TENCON.2012.6412276
DO - 10.1109/TENCON.2012.6412276
M3 - Conference contribution
SN - 9781467348225
BT - IEEE TENCON 2012
ER -