TY - GEN
T1 - Motion Constraints and Control of the UR5e Robot Based on its Redundancy
AU - Terreros, Ricardo
AU - Morales, Sergio
AU - Cespedes, Axel
AU - Fabian, Joao
AU - Canahuire, Ruth
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This article explores the utilization of manipulator redundancy, focusing on motion constraints and control applications for the UR5e robotic arm. The study investigates the kinematic redundancy inherent in the UR5e and its implications for enhancing adaptability and optimizing performance. Various control strategies, including joint limits, manipulability constraints, and obstacle avoidance, are examined to showcase the versatility of redundancy utilization. The UR5e's response to obstacles and restricted movements is analyzed, highlighting the system's robustness in achieving desired end-effector positions. Through a comprehensive exploration of redundancy in the UR5e manipulator, this research contributes valuable insights into optimizing robotic performance and adaptability in complex and dynamic environments.
AB - This article explores the utilization of manipulator redundancy, focusing on motion constraints and control applications for the UR5e robotic arm. The study investigates the kinematic redundancy inherent in the UR5e and its implications for enhancing adaptability and optimizing performance. Various control strategies, including joint limits, manipulability constraints, and obstacle avoidance, are examined to showcase the versatility of redundancy utilization. The UR5e's response to obstacles and restricted movements is analyzed, highlighting the system's robustness in achieving desired end-effector positions. Through a comprehensive exploration of redundancy in the UR5e manipulator, this research contributes valuable insights into optimizing robotic performance and adaptability in complex and dynamic environments.
KW - Control
KW - Kinematic Constraints
KW - Manipulators
KW - Redundancy
KW - UR5e
UR - https://www.scopus.com/pages/publications/85199872232
U2 - 10.1109/ICCRE61448.2024.10589799
DO - 10.1109/ICCRE61448.2024.10589799
M3 - Conference contribution
AN - SCOPUS:85199872232
T3 - 2024 9th International Conference on Control and Robotics Engineering, ICCRE 2024
SP - 162
EP - 167
BT - 2024 9th International Conference on Control and Robotics Engineering, ICCRE 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Control and Robotics Engineering, ICCRE 2024
Y2 - 10 May 2024 through 12 May 2024
ER -