Khaled Al Khudir

• PhD
• Assistant Professor in Control and Robotics at Coventry University

Businesses can play a key role in reducing exposure to COVID-19 in closed environments. This is possible by assessing the impact of Non-Pharmaceutical Interventions (NPIs) in mitigating disease exposure. This study aims to assess the impact of NPIs on COVID-19 exposure in closed environments. This is achieved by proposing an innovative COVID-19 exp...

We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These hard bounds should never be violated, are treated equally and in a unified way by the algorithm, and may also be...

We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These hard bounds should never be violated, are treated equally and in a unified way by the algorithm, and may also be...

We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy resolution at the velocity level. In addition to hard bounds on joint space motion, we consider also Cartesian box constraints that cannot be violated at any time. The modified algorithm combines all bounds into a single augmented generalised vector an...

We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that includes also hard inequality joint constraints. This is done by combining TPM with a modified version of the basic Saturation in the Null Space (SNS) algorithm. Comparative simulations are reported for the 21-DOFs Romeo humanoid robot.

A control system based on multiple sensors is proposed for the safe collaboration of a robot with a human. New constrained and contactless human-robot coordinated motion tasks are defined to control the robot end-effector so as to maintain a desired relative position to the human head while pointing at it. Simultaneously, the robot avoids any colli...

We propose a new approach for executing the main Cartesian tasks assigned to a robot while guaranteeing whole-body collision avoidance. The robot degrees of freedom are fully utilized by introducing relaxed constraints in the definition of operational and collision avoidance tasks. Desired priorities for each task are assigned using the so-called T...

We consider the known phenomenon of torque oscillations and motion instabilities that occur in redundant robots during the execution of sufficiently long Cartesian trajectories when the joint torque is instantaneously minimized. In the framework of on-line local redundancy resolution methods, we propose basic variations of the minimum torque scheme...

In our proposed system a human operator is moving in close coordination within the same workspace of a robot. A contactless coordinated motion is achieved using sensors to localize the human in the robot workspace. The robot end-effector (EE) should maintain a prescribed position with respect to the head of a moving human while pointing at it. At t...

The problem of minimizing the transfer time along a given Cartesian path for redundant robots can be approached in two steps, by separating the generation of a joint path associated to the Cartesian path from the exact minimization of motion time under kinematic/dynamic bounds along the obtained parametrized joint path. In this framework, multiple...

Fast Motion on Cartesian Paths by Exploiting Robot Redundancy at the Acceleration Level

In the framework of Human-Robot Collaboration, a robot and a human operator may need to move in close coordination within the same workspace. A contactless coordinated motion can be achieved using vision, mounting a camera either on the robot end-effector or on the human. We consider here one instance of such a visual coordination task, with the ro...