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Operational Space Control for Planar PAN–1 Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming

Chu, Xiangyu and Tang, Yunxi and Giordano, Alessandro Massimo and Chen, Tan and 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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Official URL: https://ieeexplore.ieee.org/document/9561278

Abstract

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.

Item URL in elib:https://elib.dlr.de/192556/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Operational Space Control for Planar PAN–1 Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Chu, XiangyuThe Chinese University of Hong KongUNSPECIFIEDUNSPECIFIED
Tang, YunxiThe Chinese University of Hong KongUNSPECIFIEDUNSPECIFIED
Giordano, Alessandro MassimoUNSPECIFIEDhttps://orcid.org/0000-0003-2291-7525UNSPECIFIED
Chen, TanUniversity of Notre DameUNSPECIFIEDUNSPECIFIED
Au, SamuelThe Chinese University of Hong KongUNSPECIFIEDUNSPECIFIED
Date:2021
Journal or Publication Title:2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/ICRA48506.2021.9561278
Publisher:IEEE
ISSN:1050-4729
ISBN:978-172819077-8
Status:Published
Keywords:Actuators, Torque, Automation, Conferences, Null space, Aerospace electronics, Quadratic programming
Event Title:2021 International Conference on Robotics and Automation
Event Location:Xi'an
Event Type:international Conference
Event Start Date:29 May 2021
Event End Date:2 June 2021
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 - Planetary Exploration
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Giordano, Alessandro Massimo
Deposited On:21 Dec 2022 08:52
Last Modified:24 Apr 2024 20:53

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