Stability Analysis for Prioritized Closed-Loop Inverse Kinematic Algorithms for Redundant Robotic Systems

Stability analysis of priority-based kinematic control algorithms for redundant robotic systems is approached in this paper. Starting from the classical applications in position control of manipulators, the kinematic-based approaches have lately been applied to, e.g., visual servoing and quadruped o...

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Bibliographic Details
Published in:IEEE transactions on robotics 2009-10, Vol.25 (5), p.985-994
Main Author: Antonelli, G.
Format: Article
Language:English
Subjects:
Acceleration
Algorithm design and analysis
Algorithms
Applied sciences
Artificial intelligence
Closed loop systems
Computer science
control theory
systems
Control
Control algorithms
Control systems
Control theory. Systems
Exact sciences and technology
Gain
Humanoid robots
Inverse kinematics
Jacobian matrices
Kinematics
Manipulators
Pattern recognition. Digital image processing. Computational geometry
Position control
Redundant
redundant robots
Robot control
Robot kinematics
Robotics
Stability analysis
Systems stability
Tasks
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Summary:Stability analysis of priority-based kinematic control algorithms for redundant robotic systems is approached in this paper. Starting from the classical applications in position control of manipulators, the kinematic-based approaches have lately been applied to, e.g., visual servoing and quadruped or multirobot coordination control. A common approach consists in the definition of several tasks properly combined in priority. In this paper, by resorting to a Lyapunov-based stability discussion for several prioritized inverse kinematics algorithms, sufficient conditions for the control gains and the tasks' design are given for the regulation problem. Two case studies show the practical implementation of the results.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2009.2017135