• DocumentCode
    138597
  • Title

    Hierarchical inequality task specification for indirect force controlled robots using quadratic programming

  • Author

    Lutscher, Ewald ; Cheng, Gordon

  • Author_Institution
    Inst. for Cognitive Syst., Tech. Univ. Munchen, München, Germany
  • fYear
    2014
  • fDate
    14-18 Sept. 2014
  • Firstpage
    4722
  • Lastpage
    4727
  • Abstract
    In our previous work we derived a task specification approach for indirect force controlled robots to assign force and positioning tasks in joint and Cartesian space and execute them simultaneously in a hierarchical way. The virtual set points for an underlying joint space indirect force controller have been computed according to the specified tasks, supporting reactive control by generating virtual velocity commands.
  • Keywords
    force control; manipulators; position control; quadratic programming; velocity control; force task; hierarchical inequality task specification; indirect force controlled robots; positioning task; quadratic programming; reactive control; virtual velocity commands; Force; Jacobian matrices; Joints; Manipulators; Robot kinematics; Torque;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
  • Conference_Location
    Chicago, IL
  • Type

    conf

  • DOI
    10.1109/IROS.2014.6943234
  • Filename
    6943234
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=138597