Redundant Robot Kinematic Control with Hard Constraints
First-author real-time generalized SNS framework for constrained kinematic control in redundant robots.
Outcome
I developed a computationally efficient generalized SNS-based kinematic control framework for redundant robots with online handling of variable hard constraints.
Problem
Industrial and service manipulators must remain feasible in real time while enforcing strict joint and Cartesian constraints. This project addressed robust online feasibility with both simulation and hardware validation.
System
- Formulation: generalized inequality-constrained redundancy resolution
- Solver: generalized SNS-based online task scaling for hard constraints
- Implementation: real-time-feasible algorithmic pipeline
- Validation: simulation and hardware experiments on redundant manipulators
Contribution
- Formulated constrained kinematic control for redundant robots
- Designed algorithms for online generalized inequality handling
- Implemented and evaluated the framework as first author
- Validated the method in both simulation and hardware experiments
Technical Stack
- Robot kinematics
- Constraint handling
- Real-time feasible algorithms
- C++/MATLAB prototyping and validation
Key Results
- Online handling of hard joint and Cartesian constraints with generalized inequality formulations
- Validated on both simulation and hardware experiments
- Published in IEEE Robotics and Automation Letters (2022)
Media
Links
- Publication: Publications page (IEEE RA-L 2022)
- Paper: IEEE RA-L 2022
Skills
robot kinematics constraint handling real-time control algorithm design experiments