The DOI matches its Crossref record; 16 of the 16 references it cites were found in a registry or an index.
A general framework for managing multiple tasks in highly redundant robotic systems
Abstract
The exploitation of kinematic redundancies in robotic systems may provide more dexterity and versatility in the execution of complex tasks. When functional constraint tasks are imposed in addition to the end-effector tasks, a task priority strategy is advisable. The authors propose a general framework for managing multiple tasks in highly redundant systems. In particular, they derive joint velocity and acceleration solutions which can be used as reference input trajectories to suitable model-based controllers. They also develop a recursive implementation, and discuss the occurrence of singularities in the Jacobian associated with the generic task. Two case studies illustrate the effectiveness of the algorithm on a snake-like robot.>
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Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Impedance Control: An Approach to Manipulation
Hogan, N. (1984) · 1984 American Control Conference · doi:10.23919/acc.1984.4788393 · Cited by 2,929
On the Adaptive Control of Robot Manipulators
Slotine, J.-J. E., & Li, W. (1987) · The International Journal of Robotics Research · doi:10.1177/027836498700600303 · Cited by 2,284
Self-citationAutomatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms
(1977) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/tsmc.1977.4309644 · Cited by 1,275
Resolved-acceleration control of mechanical manipulators
Luh, J., Walker, M., & Paul, R. (1980) · IEEE Transactions on Automatic Control · doi:10.1109/tac.1980.1102367 · Cited by 1,203
Automatic Supervisory Control of the Configuration and Behaviour of Multibody Mechanisms
Liégeois, A. (1977) · IEEE Transactions on Systems Man and Cybernetics · Cited by 1,108
Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
Nakamura, Y., & Hanafusa, H. (1986) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3143764 · Cited by 1,086
Adaptive manipulator control: A case study
Slotine, J.-J. E., & Weiping, L. (1988) · IEEE Transactions on Automatic Control · doi:10.1109/9.14411 · Cited by 1,032
Self-citationTask-Priority Based Redundancy Control of Robot Manipulators
Nakamura, Y., Hanafusa, H., & Yoshikawa, T. (1987) · The International Journal of Robotics Research · doi:10.1177/027836498700600201 · Cited by 1,021
Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments
Maciejewski, A. A., & Klein, C. A. (1985) · The International Journal of Robotics Research · doi:10.1177/027836498500400308 · Cited by 1,007
Metadata
- Authors
- Siciliano, B., & Slotine, J.-J. E.
- Venue
- Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments
- Publisher
- IEEE
- Published
- 1991
- Pages
- 1211-1216 vol.2
- OpenAlex
- W2072763216
- Cited by
- 608
- References
- 16
- FWCI
- 1.00
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Siciliano, B., & Slotine, J.-J. E. (1991). A general framework for managing multiple tasks in highly redundant robotic systems. Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments. https://doi.org/10.1109/icar.1991.240390
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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