Deutsches Zentrum Fur Luft-und Raumfahrt E.v.

Johannes Englsberger

George Adrian Mesesan

Gianluca Garofalo

A method for controlling a kinematically redundant robot () in order to fulfill multiple tasks. At least one passivity-based first controller module () is used, at least one task target description and at least one associated task mapping are computed for the at least one first controller module (), at least one weighting is computed for the tasks, and the at least one first controller module () is integrated into an overall controller (), using the at least one weighting. Moreover, the invention relates to a computer program product that includes commands which, when the program is executed with the aid of at least one processor, prompt the processor to carry out such a method.

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Wessling, Germany

Johannes Englsberger