Extended-Task-Space Control for Robotic ManipulatorsETSC combines redundant arm control, multi-sensor based control, impedance control and task decomposition to provide a general control framework for redundant and non-redundant robots. An application is decomposed into multiple simultaneous behaviors whose combined resultant behavior will provide the motion necessary to execute the task. The simultaneous control inputs are merged using impedance control to compute a resultant command to the manipulator. The task space of each behavior can have the dimensionality of the mechanism being controlled.
The Command To Behavior Map performs the mapping between the task and the required concurrent behaviors. The Behavior Space includes all of the control behaviors. The Motion Space is the common control space for all behaviors, and typically will have the dimensionality of the mechanism being controlled. The Actuator Space is defined as the space of active actuation of the mechanism.
More details can be found in:
Paul G. Backes and Mark K. Long. "Merging Concurrent Behaviors on a Redundant Manipulator." In Proceedings IEEE International Conference on Robotics and Automation, pages 638-645, Atlanta, Georgia, May 1993.
Point of Contact:
Paul G. Backes,
Mail Stop 198-219
Jet Propulsion Laboratory
4800 Oak Grove Drive
Pasadena, CA 91109
818-354-3850
Paul.G.Backes@jpl.nasa.gov
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Last updated: May 10, 1996