Applying the PopovVereshchagin Hybrid Dynamics Solver for Teleoperation under Instantaneous Constraints 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 operatoru0027s 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.

Exploiting linearity in dynamics solvers for the design of composable robotic manipulation architectures We investigate two major limiting factors in the design and implementation of modern dynamics solvers that interfere with their full utilization in versatile, manipulationdriven robotic software architectures. The first limitation originates from the design of those solvers which aims at computational efficiency while neglecting composability. Instead, we advocate to design the solvers in such a way that they exploit linearity in the equations of motion to fully decompose the state of a kinematic chain. This enables a versatile recomposition and more flexible applications. Secondly, we have observed that most implementations follow the programming principle of information hiding. Consequently, the internal state that is used to compute motion control commands is withheld from other parts of the software architecture. We tackle this problem by following a dataflow programming paradigm and separating the softwarexe2x80x99s dataflow from the control flow. Thereafter, we demonstrate those two simple, yet effective strategies to overcome the limitations along various case studies.