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Acceleration- vs. velocity-resolved constraint-based instantaneous task specification and estimation (iTaSC)
| Content Provider | Semantic Scholar |
|---|---|
| Author | Vanthienen, Dominick Laet, Tinne De Decré, Wilm Schutter, Joris De |
| Copyright Year | 2013 |
| Abstract | The instantaneous Task Specification and estimation using Constraints (iTaSC) framework presented by De Schutter et al. [1] presents a constraint-based framework and particular sets of auxiliary coordinates to express task constraints and model geometric uncertainty. The constraint-based framework does not consider the robot joints nor the task frame as centric, instead it describes a robot task as an optimization problem consisting of a set of constraints, possibly formulated in multiple task frames, and one or multiple objective functions. The key advantages of iTaSC over classical motion speficications are: (i) the composability of constraints, (ii) the reusability of constraints, (iii) the derivation of the control solution, and (iv) the modelling of uncertainty. The paper by De Schutter et al. only details a velocity-resolved control scheme. This abstract additionally presents an acceleration-resolved control scheme for iTaSC. The control scheme includes the systematic treatment of uncertain and possibly time-varying geometric parameters in the task environment, which are modeled using auxiliary coordinates, estimated using a state estimator, and compensated for in the control law. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://core.ac.uk/download/pdf/34577051.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
