Chu, Xiangyu und Tang, Yunxi und Giordano, Alessandro Massimo und Chen, Tan und Au, Samuel (2021) Operational Space Control for Planar PAN–1 Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming. In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. IEEE. 2021 International Conference on Robotics and Automation, 2021-05-29 - 2021-06-02, Xi'an. doi: 10.1109/ICRA48506.2021.9561278. ISBN 978-172819077-8. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/9561278
Kurzfassung
In this paper, we propose an operational space control formulation for a planar N-link underactuated manipulator (PA N–1 ) 1 with a passive first joint subject to actuator constraints (N ⩾ 3), covering both stabilization and tracking tasks. Such underactuated manipulators have an inherent first-order nonholonomic constraint, allowing us to project their dynamics to a space consistent with the nonholonomic constraint. Based on the constrained dynamics, we can design operational space controllers with respect to tasks assuming that all joints of the manipulator are active. Due to underactuation, we design a Quadratic Programming (QP) based controller to minimize the error between the desired torque commands and available motor torques in the null space of the constraint, as well as involve the constraint of motor outputs. The proposed control framework was demonstrated by stabilization and tracking tasks in simulations with both planar PA 2 and PA 3 manipulators. Furthermore, we verified the controller experimentally using a planar PA 2 robot.
elib-URL des Eintrags: | https://elib.dlr.de/192556/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag, Poster) | ||||||||||||||||||||||||
Titel: | Operational Space Control for Planar PAN–1 Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming | ||||||||||||||||||||||||
Autoren: |
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Datum: | 2021 | ||||||||||||||||||||||||
Erschienen in: | 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
DOI: | 10.1109/ICRA48506.2021.9561278 | ||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||||||||||
ISBN: | 978-172819077-8 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Actuators, Torque, Automation, Conferences, Null space, Aerospace electronics, Quadratic programming | ||||||||||||||||||||||||
Veranstaltungstitel: | 2021 International Conference on Robotics and Automation | ||||||||||||||||||||||||
Veranstaltungsort: | Xi'an | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 29 Mai 2021 | ||||||||||||||||||||||||
Veranstaltungsende: | 2 Juni 2021 | ||||||||||||||||||||||||
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 - Planetare Exploration | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||
Hinterlegt von: | Giordano, Alessandro Massimo | ||||||||||||||||||||||||
Hinterlegt am: | 21 Dez 2022 08:52 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:53 |
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