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Keppler, Manuel und 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, Jeju Island, Republic of Korea. doi: 10.1109/CDC42340.2020.9304224. ISBN 978-172817447-1. ISSN 0743-1546.
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Offizielle URL: https://ieeexplore.ieee.org/document/9304224
Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/187794/ | ||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||
| Titel: | On Time-Optimal Control of Elastic Joints under Input Constraints | ||||||||||||
| Autoren: |
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| Datum: | Dezember 2020 | ||||||||||||
| Erschienen in: | 59th IEEE Conference on Decision and Control, CDC 2020 | ||||||||||||
| Referierte Publikation: | Ja | ||||||||||||
| Open Access: | Ja | ||||||||||||
| Gold Open Access: | Nein | ||||||||||||
| In SCOPUS: | Ja | ||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||
| DOI: | 10.1109/CDC42340.2020.9304224 | ||||||||||||
| Verlag: | IEEE | ||||||||||||
| ISSN: | 0743-1546 | ||||||||||||
| ISBN: | 978-172817447-1 | ||||||||||||
| Status: | veröffentlicht | ||||||||||||
| Stichwörter: | Elastic joints, time-optimal control, input bounds | ||||||||||||
| Veranstaltungstitel: | 59th Conference on Decision and Control | ||||||||||||
| Veranstaltungsort: | Jeju Island, Republic of Korea | ||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||
| HGF - Programmthema: | Robotik | ||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
| DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Leichtbau-Robotik [RO] | ||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||
| Hinterlegt von: | Keppler, Manuel | ||||||||||||
| Hinterlegt am: | 04 Aug 2022 10:39 | ||||||||||||
| Letzte Änderung: | 04 Aug 2022 10:39 |
Verfügbare Versionen dieses Eintrags
- On Time-Optimal Control of Elastic Joints under Input Constraints. (deposited 04 Aug 2022 10:39) [Gegenwärtig angezeigt]
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