NDLI: Guaranteeing task prioritization for redundant robots given maximum number of tasks and singularities

Content Provider	IEEE Xplore Digital Library
Author	Jamisola, R.S. Pyung Hun Chang Jinoh Lee
Copyright Year	2012
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.
Starting Page	1
Ending Page	6
File Size	658606
Page Count	6
File Format	PDF
ISBN	9781467348232
ISSN	21593450
e-ISBN	9781467348249
e-ISBN	9781467348225
DOI	10.1109/TENCON.2012.6412276
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-19
Publisher Place	Philippines
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Null space Jacobian matrices Vectors Manipulators Joints Redundancy
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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