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Hier finden Sie wissenschaftliche Publikationen aus den FraunhoferInstituten. Applying the PopovVereshchagin hybrid dynamics solver for teleoperation under instantaneous constraints
 Institute of Electrical and Electronics Engineers IEEE: 19th International Conference on Advanced Robotics, ICAR 2019 : Belo Horizonte, Brasil, December 0206, 2019 Piscataway, NJ: IEEE, 2019 ISBN: 9781728124681 ISBN: 9781728124667 ISBN: 9781728124674 pp.673680 
 International Conference on Advanced Robotics (ICAR) <19, 2019, Belo Horizonte> 

 English 
 Conference Paper 
 Fraunhofer FKIE () 
Abstract
Teleoperation is still the defacto mode of operation for robotic manipulators in hazardous and unknown environments. The objective is to move the manipulator under the influence of a plenitude of constraints, mainly following the human operator's commands, but also the avoidance of adverse effects such as joint limits or the exertion of external forces. A classic approach to incorporate such noninstantaneous behavior into the instantaneous motion of the kinematic chain is the ClosedLoop Inverse Kinematics (CLIK) control scheme. In this paper, we present PVCLIK, a novel CLIK realization that for the first time practically applies the PopovVereshchagin (PV) hybrid dynamics solver to map the instantaneous constraints to motion commands. By relying on the PV solver, PVCLIK offers several benefits over traditional CLIK implementations such as linear runtime complexity, handling constraints on the dynamics level or fostering composable software architectures. In the experimental evaluation, we show that our implementation of PVCLIK outperforms existing kinematics solvers in Cartesian trajectoryfollowing tasks at high velocities.