Kinematic control of redundant robots in changing task space

Abstract

In the paper we propose a task-space kinematic velocity controller for tasks which do not require motion in all spatial directions and these directions also change over time. For that, the controller is mapped from the world space to the task space which may change during the task execution. To simplify the mapping we propose that the desired task location is the origin of the task frame. Effectiveness of the proposed control approach is illustrated by an experiment on a dual arm robot system performing a ring task.