Abstract
AbstractThis paper analyzes operational space dynamics for redundant robots with un-actuated joints and reveals their highly nonlinear dynamic impacts on operational space control (OSC) tasks. Unlike conventional OSC approaches that partly address the under-actuated system by introducing rigid grasping or contact constraints, we deal with the problem even without such physical constraints which have been overlooked, yet it includes a wide range of applications such as free-floating robots and manipulators with passive joints or unwanted actuation failure. In addition, as an intuitive application example of the drawn result, an OSC is formulated as an optimization problem to alleviate the dynamics disturbance stemmed from the un-actuated joints and to satisfy other inequality constraints. The dynamic analysis and the proposed control method are verified by a number of numerical simulations as well as physical experiments with a 7-degrees-of-freedom robotic arm. In particular, we consider joint actuation failure scenarios that can be occurred at certain joints of a torque-controlled robot and practical case studies are performed with an actual redundant robot arm.
Funder
Horizon 2020
Ministry of Education and Human Resources Development
Publisher
Springer Science and Business Media LLC
Subject
Electrical and Electronic Engineering,Applied Mathematics,Mechanical Engineering,Ocean Engineering,Aerospace Engineering,Control and Systems Engineering
Cited by
4 articles.
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