Motion Control of Redundant Robots with Generalised Inequality Constraints
This work addresses motion control for redundant robots in constrained environments, but it is incremental as it builds on an existing algorithm with specific modifications.
The authors tackled the problem of controlling redundant robots under multiple inequality constraints by improving the Saturation in the Null Space (SNS) algorithm, resulting in a method that enforces joint and Cartesian box constraints with equal priority and ensures task feasibility through scaling.
We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy resolution at the velocity level. In addition to hard bounds on joint space motion, we consider also Cartesian box constraints that cannot be violated at any time. The modified algorithm combines all bounds into a single augmented generalised vector and gives equal, highest priority to all inequality constraints. When needed, feasibility of the original task is enforced by the SNS task scaling procedure. Simulation results are reported for a 6R planar robot.