Simultaneous Force and Motion Control in Generalised Coordinates
Robot manipulators often come into contact with rigid objects when performing work.
ProofPaper ↗
Key points
- Simultaneous force & motion control was developed to regulate contact forces commensurate with these constraints, whilst projecting motion control in to the orthogonal, unconstrained directions.
- However, most constraints on the robot control, such as joint limits, collision avoidance, singularity avoidance, etc. are naturally expressed in generalised coordinates (joint space).
- In this paper Gauss' principle of least constraint is used to solve the control as a quadratic programming (QP) problem in generalised coordinates.
- It is shown that the theoretical solution to this problem produces the correct constrained dynamics for accurate contact force control.
Sources (1)
- [1]Simultaneous Force and Motion Control in Generalised CoordinatesarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 16, 01:41 AM
Robot manipulators often come into contact with rigid objects when performing work.
Simultaneous force & motion control was developed to regulate contact forces commensurate with these constraints, whilst projecting motion control in to the orthogonal, unconstrained directions.
Extractive summary: sentences quoted from the sources.
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