The equality and inequality constraints on constraint force and/or the actuator force/torque arise in several robotic applications, for which different controllers have been specifically developed. This paper presents a unified approach to control a rather general class of robotic systems with closed loops under a set of linear equality and inequality constraints using the notion of projection operator. The controller does not require the kinematic constraints to be independent, i.e., systems with time-varying topology can be dealt with, while demanding minimum-norm actuation force or torque in the case that the system becomes redundant. The orthogonal decomposition of the control input force yields the null-space component and its orthogonal complement. The null-space component is obtained using the projected inverse dynamics control law, while the orthogonal complement component is found through solving a quadratic programming problem, in which the equality and inequality constraints are derived to be equivalent to the originally specified ones. Finally, a case study is presented to demonstrate how the control technique can be applied to multi-arms manipulation of an object.
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July 2011
Research Papers
Control of Redundant Mechanical Systems Under Equality and Inequality Constraints on Both Input and Constraint Forces
Farhad Aghili
Farhad Aghili
Research Scientist
Space Exploration,
e-mail: farhad.aghili@asc-csa.gc.ca
Canadian Space Agency
, Saint-Hubert, PQ, J3Y 8Y9, Canada
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Farhad Aghili
Research Scientist
Space Exploration,
Canadian Space Agency
, Saint-Hubert, PQ, J3Y 8Y9, Canadae-mail: farhad.aghili@asc-csa.gc.ca
J. Comput. Nonlinear Dynam. Jul 2011, 6(3): 031013 (8 pages)
Published Online: February 2, 2011
Article history
Received:
June 14, 2010
Revised:
September 7, 2010
Published:
February 2, 2011
Citation
Aghili, F. (February 2, 2011). "Control of Redundant Mechanical Systems Under Equality and Inequality Constraints on Both Input and Constraint Forces." ASME. J. Comput. Nonlinear Dynam. July 2011; 6(3): 031013. https://doi.org/10.1115/1.4002689
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