Prioritized multi-task compliance control of redundant manipulators

Ott, Christian; Dietrich, Alexander; Albu-Schäffer, Alin

doi:10.1016/j.automatica.2015.01.015

Cited by 125 publications

(105 citation statements)

References 27 publications

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“…As for related work concerning this section, see for example [29], [30] that study the stability of the strict priority inverse kinematics control approach, [7], [28] for the stability of strict priority inverse dynamics, [31], [32] for the stability of the weighted approach of a multi-task controller based on control Lyapunov functions (CLF). We will base our argumentation below on Lyapunov's indirect method.…”

Section: Stability In the State Space Of The Generalized Coordinatesmentioning

confidence: 99%

“…Although each of these problems has already been extensively studied in the context of industrial manipulators or various general cases (e.g. handling redundancy in [7], [8], underactuation in [9], [10], contacts constraints in [11]- [14], bounds on control inputs in [15], and references therein), the specificity of a humanoid robot is that it features and interleaves them all at once, and thus renders the solutions that were proposed for each of these problems taken in a separate setting largely inapplicable in a unified control framework.…”

Section: Introductionmentioning

confidence: 99%

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On Weight-Prioritized Multitask Control of Humanoid Robots

Bouyarmane

Kheddar

2018

IEEE Trans. Automat. Contr.

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Abstract-We propose a formal analysis with some theoretical properties of weight-prioritized multi-task inverse-dynamics-like control of humanoid robots, being a case of redundant "manipulators" with a non-actuated free-floating base and multiple unilateral frictional contacts with the environment. The controller builds on a weighted sum scalarization of a multiobjective optimization problem under equality and inequality constraints, which appears as a straightforward solution to account for state and control input viability constraints characteristic of humanoid robots that were usually absent from early existing pseudo-inverse and null-space projection-based prioritized multitask approaches. We argue that our formulation is indeed well founded and justified from a theoretical standpoint, and we propose an analysis of some stability properties of the approach: Lyapunov stability is demonstrated for the closed-loop dynamical system that we analytically derive in the unconstrained multiobjective optimization case. Stability in terms of solution existence, uniqueness, continuity, and robustness to perturbations, is then formally demonstrated for the constrained quadratic program.

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Section: Stability In the State Space Of The Generalized Coordinatesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

On Weight-Prioritized Multitask Control of Humanoid Robots

Bouyarmane

Kheddar

2018

IEEE Trans. Automat. Contr.

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“…assembly of electronic components on the small surface of printed circuit boards). The second approach presented in only few works Seraji and Colbaugh [28], Peng and Adachi [29], Ott et al [30], Oh and Chung [31], Colbaugh and Glass [32] is based on utilizing augmented task space techniques such as the extended Jacobian Balleieul [33] or the configuration control proposed by Seraji and Colbaugh [28]. In this approach, the dimension of the operational space is extended by incorporating as many additional constraints as the degrees of redundancy, and hence, the resulting system becomes non-redundant.…”

Section: Introductionmentioning

confidence: 99%

“…In this approach, the dimension of the operational space is extended by incorporating as many additional constraints as the degrees of redundancy, and hence, the resulting system becomes non-redundant. The control algorithms from Seraji and Colbaugh [28], Peng and Adachi [29], Ott et al [30] require exact dynamic model thus guaranteeing the asymptotic tracking. Using extended Jacobian, nominal values of the parameters of dynamic equations and the momentum feed-back disturbance observer, a trajectory tracking control law has been proposed in Oh and Chung [31] without its stability analysis.…”

Section: Introductionmentioning

confidence: 99%

Kinematically Optimal Robust Control of Redundant Manipulators

Galicki

2017

International Journal of Applied Mechanics and Engineering

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This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

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“…In such a context, one can distinguish three major approaches of controlling the non-redundant and/or redundant robotic manipulators in the task space. The control techniques offered in the first approach [16][17][18][19][20][21][22][23][24][25][43][44][45] require the full knowledge of the dynamics neglecting the external disturbances. In the second approach, works [26][27][28][29][30][31][32][33][34][35][36][37] present adaptive control algorithms to compensate for parametric uncertainties in dynamic model including only the linearly parametrizable friction terms (viscous friction) and also neglecting the external (nonlinearly parametrizable) disturbances.…”

Section: Introductionmentioning

confidence: 99%

Robust Task Space Finite-Time Chattering-Free Control of Robotic Manipulators

Galicki

2016

J Intell Robot Syst

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This work deals with the problem of the accurate task space control subject to finite-time convergence. Kinematic and dynamic equations of a rigid robotic manipulator are assumed to be uncertain. Moreover, unbounded disturbances, i.e., such structures of the modelling functions that are generally not bounded by construction, are allowed to act on the manipulator when tracking the trajectory by the end-effector. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of absolutely continuous (chattering-free) robust controllers based on the estimation of a Jacobian transpose matrix, which seem to be effective in counteracting uncertain both kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a 2DOF robotic manipulator with two revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers.

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Prioritized multi-task compliance control of redundant manipulators

Cited by 125 publications

References 27 publications

On Weight-Prioritized Multitask Control of Humanoid Robots

On Weight-Prioritized Multitask Control of Humanoid Robots

Kinematically Optimal Robust Control of Redundant Manipulators

Robust Task Space Finite-Time Chattering-Free Control of Robotic Manipulators

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