Adaptive Constrained Kinematic Control using Partial or Complete Task-Space Measurements
This addresses the need for safer and more accurate robotic control in applications with high demands, though it appears incremental as it builds on existing constrained kinematic control frameworks.
The paper tackled the problem of compensating for kinematic inaccuracies in robot control by proposing an adaptive constrained kinematic control strategy using quadratic programming with task-space measurements, resulting in increased accuracy and safety compared to state-of-the-art methods.
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task at hand. However, with increasing demands and safety requirements in robotic applications, there is a need for a controller that compensates online for kinematic inaccuracies. We propose an adaptive constrained kinematic control strategy based on quadratic programming, which uses partial or complete task-space measurements to compensate online for calibration errors. Our method is validated in experiments that show increased accuracy and safety compared to a state-of-the-art kinematic control strategy.