Unilateral Constraints for Torque-based Whole-Body Control
Juan D. Muñoz Osorio,Abdelrahman Abdelazim,Felix Allmendinger,Uwe E. Zimmermann,Juan D. Muñoz Osorio,Abdelrahman Abdelazim,Felix Allmendinger,Uwe E. Zimmermann
This work uses quadratic programming to perform torque control on an industrial collaborative robot, while keeping defined constraints. Limits for rotational and translational coordinates are considered at position, velocity and acceleration level. Although the problem of having hardware and safe limitations has been considered before. Solutions usually rely on functions that need a proper tuning....
