Tell a friend
Print
Keppler, Manuel and De Luca, Alessandro (2020) On Time-Optimal Control of Elastic Joints under Input Constraints. In: 59th IEEE Conference on Decision and Control, CDC 2020. IEEE. 59th Conference on Decision and Control, 2020-12-14 - 2020-12-18, Jeju Island, Republic of Korea. doi: 10.1109/CDC42340.2020.9304224. ISBN 978-172817447-1. ISSN 0743-1546.
This is the latest version of this item.
![[img]](https://elib.dlr.de/style/images/fileicons/application_pdf.png) |
PDF
267kB |
Official URL: https://ieeexplore.ieee.org/document/9304224
Abstract
We present a complete synthesis method for time-optimal rest-to-rest motions of an elastic joint system with bounded torque input. An equivalence with the two-body problem in classical mechanics is highlighted, allowing to introduce a change of coordinates that reduces the problem to a pair of decoupled one-body problems. In place of the original coupled fourth-order dynamics, the motion of two equivalent masses has to be synchronized in separate phase spaces. The solution is provided in closed form by following purely geometric arguments, and verifies the standard optimality conditions. The obtained control is a bang-bang policy with either one or three switchings, depending on the dynamic parameters and the required displacement. One-switching solutions are called natural motions for the system: given a set of dynamic parameters, they cover the displacement space in a sparse way. Natural motions are the only instances when minimum-time solutions for the elastic and the equivalent rigid joint system match, whereas the rigid system is faster for all other optimal rest-to-rest motions.
| Item URL in elib: | https://elib.dlr.de/187794/ | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||
| Title: | On Time-Optimal Control of Elastic Joints under Input Constraints | ||||||||||||
| Authors: |
| ||||||||||||
| Date: | December 2020 | ||||||||||||
| Journal or Publication Title: | 59th IEEE Conference on Decision and Control, CDC 2020 | ||||||||||||
| Refereed publication: | Yes | ||||||||||||
| Open Access: | Yes | ||||||||||||
| Gold Open Access: | No | ||||||||||||
| In SCOPUS: | Yes | ||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||
| DOI: | 10.1109/CDC42340.2020.9304224 | ||||||||||||
| Publisher: | IEEE | ||||||||||||
| ISSN: | 0743-1546 | ||||||||||||
| ISBN: | 978-172817447-1 | ||||||||||||
| Status: | Published | ||||||||||||
| Keywords: | Elastic joints, time-optimal control, input bounds | ||||||||||||
| Event Title: | 59th Conference on Decision and Control | ||||||||||||
| Event Location: | Jeju Island, Republic of Korea | ||||||||||||
| Event Type: | international Conference | ||||||||||||
| Event Start Date: | 14 December 2020 | ||||||||||||
| Event End Date: | 18 December 2020 | ||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||
| HGF - Program: | Space | ||||||||||||
| HGF - Program Themes: | Robotics | ||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||
| DLR - Program: | R RO - Robotics | ||||||||||||
| DLR - Research theme (Project): | R - Lightweight robotics [RO] | ||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||
| Deposited By: | Keppler, Manuel | ||||||||||||
| Deposited On: | 04 Aug 2022 10:39 | ||||||||||||
| Last Modified: | 04 Jun 2024 15:00 |
Available Versions of this Item
- On Time-Optimal Control of Elastic Joints under Input Constraints. (deposited 04 Aug 2022 10:39) [Currently Displayed]
Repository Staff Only: item control page
