Redundant robotic systems are designed to accomplish multiple tasks simultaneously. Task-priority control schemes exploit system redundancy by arranging tasks in priority and ensuring strict prioritization between tasks at different priority levels. This paper investigates the relationship between task-priority operational space control and feedback linearization of multiple-input-multiple-output (MIMO) systems. We derive sufficient conditions for input-output feedback linearization and input-to-state feedback linearization of a redundant robotic system influenced by a task-priority operational space pre-feedback control law. Moreover, we analyze the effect of incompatible tasks and provide sufficient conditions for input-output and input-to-state feedback linearizability of the controllable dimensions of incompatible lower-priority tasks. These conditions can be employed when designing the operational space tasks in order to guarantee both task space and joint space stability. ; publishedVersion


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    Title :

    MIMO Feedback Linearization of Redundant Robotic Systems Using Task-Priority Operational Space Control



    Publication date :

    2020-01-01


    Remarks:

    cristin:1830681
    IFAC-PapersOnLine



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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