A General Position Control Method for Planar Underactuated Manipulators With Second-Order Nonholonomic Constraints

Wu, Jundong; Ye, Wenjun; Wang, Yawu; Su, Chun‐Yi

doi:10.1109/tcyb.2019.2951861

Cited by 20 publications

(7 citation statements)

References 26 publications

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“…Keeping the non-first active joints in target angles, meanwhile the first active link moves according to the established trajectory. At this time, the underactuated link is suppressed due to (6). Then, all the joints arrive at the established position simultaneously.…”

Section: Control Stages Descriptionmentioning

confidence: 99%

“…1 But in fact, sometimes, the freedoms of motion are more than control inputs for some systems, making such systems not completely controllable. 2–4 Such systems are called the underactuated systems, 5,6 which always have nonholonomic constraint. 7,8 Underactuated systems are widespread in daily life, such as crane, 9–11 helicopter, 12,13 quadrotor, 14,15 unmanned ship, 16,17 soft robot, 18,19 underactuated manipulator, 20–22 and so on.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

Huang,

Li,

Wei

et al. 2023

Measurement and Control

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For the planar robot with underactuated constraints, a stable control method is presented on the foundation of motion planning method and intelligent optimization, which includes two stages. (1) Designing the controllers to control the actuated manipulators to given target states. (2) Planning the motion trajectory combined with the underactuated constraints between all links, using the intelligent algorithm to find the adaptable trajectory parameters, and tracking such planned trajectories to control full manipulators to the given states simultaneously. At last, multigroup simulations demonstrate the validity of the proposed method.

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Section: Control Stages Descriptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

Huang,

Li,

Wei

et al. 2023

Measurement and Control

View full text Add to dashboard Cite

show abstract

“…where 9 J " d dt p Bx Bq qP `Bx Bq 9 P and 9 P " ´A`9 AP Ṕ 9 A T A `T according to [28]. To achieve the operational space control, we first assume all joints of the manipulator are active by replacing 4 Bu with the generalized force vector τ osc P R N , thus the constrained dynamics is updated to M : q `C 9 q " P τ osc . (14) Based on (14), we can design a desired control law τ osc to achieve the desired task assuming J is full rank 5 .…”

Section: A Task-oriented Controllersmentioning

confidence: 99%

“…However, the control of HUMs like stabilizing the endeffector is particularly challenging since the linearized model at any equilibrium position is not controllable because of the absence of gravity [2]. A general nonlinear control method is not yet available, thus the control design depends on what constraint the system owns according to integrability conditions [3], e.g., a second-order nonholonomic constraint [4], a first-order nonholonomic constraint [8], or a holonomic constraint [5]. Although there is a large amount of existing work devoted to controlling specific or a class of HUMs, the development of systematic and efficient controllers remains open.…”

Section: Introductionmentioning

confidence: 99%

Operational Space Control for Planar PA^N–1 Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming

Chu

Tang

Giordano

et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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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 ě 3), covering both stabilization and tracking tasks. Such underactuated manipulators have an inherent firstorder 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.

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“…6,7 The nonlinear coupling relationship makes its control full of challenges. The surface vehicle, 8 tower crane, 9 and planar underactuated robot [10][11][12] etc. are all high-frequency research objects in underactuated system.…”

Section: Introductionmentioning

confidence: 99%

Finite-time control strategy for swarm planar underactuated robots via motion planning and intelligent algorithm

Huang

Wei

Hou

et al. 2022

Measurement and Control

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The swarm planar underactuated robots have the ability to organize each robot to complete task in a finite time and the characteristics of ignoring gravity, energy saving, light weight, and so on. In this paper, we propose control strategy for such robot via motion planning and intelligent algorithm. First, we establish a unified dynamic model and analysis its underactuated characteristics. In order to enable all links to reach the target position smoothly in a finite time, a suitable trajectory is planned and parameters are optimized by the differential evolution algorithm (DEA). Then, the controllers are designed for each planar underactuated robot. Finally, the simulation results show that the proposed strategy is effective.

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A General Position Control Method for Planar Underactuated Manipulators With Second-Order Nonholonomic Constraints

Cited by 20 publications

References 26 publications

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

Operational Space Control for Planar PA^N–1 Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming

Finite-time control strategy for swarm planar underactuated robots via motion planning and intelligent algorithm

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A General Position Control Method for Planar Underactuated Manipulators With Second-Order Nonholonomic Constraints

Cited by 20 publications

References 26 publications

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

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

Finite-time control strategy for swarm planar underactuated robots via motion planning and intelligent algorithm

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Product

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Operational Space Control for Planar PA^N–1 Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming