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A Study of Task-Space Path-Velocity Control for Torque-Limited Redundant Manipulators under Uncertainties

Jia, Zheng LU orcid ; Karayiannidis, Yiannis LU orcid and Olofsson, Björn LU (2025) p.2894-2900
Abstract
This paper addresses the time-optimal path-tracking problem for redundant manipulators. By integrating path-velocity control into existing task-space robot controllers, the task-space motion can be dynamically scaled to satisfy the torque constraint under both kinematic and dynamic uncertainties. Numerical simulations and experiments demonstrate that trajectory feasibility and path-tracking accuracy of the task-space controllers can be significantly improved by integrating path-velocity control. In addition, the nullspace motion of redundant manipulators can be exploited to further improve the performance by tracking the approximate time-optimal joint trajectory associated with the tasks in nullspace.
Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Uncertainty, Torque, Accuracy, Tracking, Dynamics, Europe, Kinematics, Numerical simulation, Trajectory, Manipulator dynamics
host publication
2025 European Control Conference (ECC)
pages
7 pages
DOI
10.23919/ECC65951.2025.11187049
project
Hand-arm coordination control for robotic interaction tasks
language
Unknown
LU publication?
yes
id
8e87f519-9714-4947-8d5b-b272b1e18ba2
date added to LUP
2025-10-19 18:42:03
date last changed
2025-10-25 03:36:18
@inproceedings{8e87f519-9714-4947-8d5b-b272b1e18ba2,
  abstract     = {{This paper addresses the time-optimal path-tracking problem for redundant manipulators. By integrating path-velocity control into existing task-space robot controllers, the task-space motion can be dynamically scaled to satisfy the torque constraint under both kinematic and dynamic uncertainties. Numerical simulations and experiments demonstrate that trajectory feasibility and path-tracking accuracy of the task-space controllers can be significantly improved by integrating path-velocity control. In addition, the nullspace motion of redundant manipulators can be exploited to further improve the performance by tracking the approximate time-optimal joint trajectory associated with the tasks in nullspace.}},
  author       = {{Jia, Zheng and Karayiannidis, Yiannis and Olofsson, Björn}},
  booktitle    = {{2025 European Control Conference (ECC)}},
  keywords     = {{Uncertainty; Torque; Accuracy; Tracking; Dynamics; Europe; Kinematics; Numerical simulation; Trajectory; Manipulator dynamics}},
  language     = {{und}},
  pages        = {{2894--2900}},
  title        = {{A Study of Task-Space Path-Velocity Control for Torque-Limited Redundant Manipulators under Uncertainties}},
  url          = {{http://dx.doi.org/10.23919/ECC65951.2025.11187049}},
  doi          = {{10.23919/ECC65951.2025.11187049}},
  year         = {{2025}},
}