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Robust constraint-based control of robot manipulators: An application to a visual aided grasping task | IEEE Conference Publication | IEEE Xplore

Robust constraint-based control of robot manipulators: An application to a visual aided grasping task


Abstract:

Despite the availability in the literature of several constraint-based motion generation algorithms, modest attention has been paid to their robustness with respect to no...Show More

Abstract:

Despite the availability in the literature of several constraint-based motion generation algorithms, modest attention has been paid to their robustness with respect to noise, and more in general, to unstructured uncertainties. Especially in the case of sensor-related constraints, the envisaged robustness properties are clearly crucial to enforce the correct and expected behaviour of these algorithms. This paper contributes with a method to explicitly account for different sources of uncertainty. We also suggest a computational efficient way to consistently modify the constraint specification in order to obtain such robustness. An experimental verification on a visual aided grasping task, where visibility of the object is to be maintained, enlightens the benefits of the proposed approach in terms of achieving the desired robustness.
Date of Conference: 09-14 October 2016
Date Added to IEEE Xplore: 01 December 2016
ISBN Information:
Electronic ISSN: 2153-0866
Conference Location: Daejeon, Korea (South)

References

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