Feedback Control of the Pusher-Slider System: A Story of Hybrid and Underactuated Contact Dynamics
Feedback Control of the Pusher-Slider System: A Story of Hybrid and Underactuated Contact Dynamics
复制标题
推杆-滑块系统的反馈控制：混合和欠驱动接触动力学的故事
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Alberto Rodriguez
中科院分区：
文献类型：
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作者：
F. Hogan;Alberto Rodriguez
本文研究涉及摩擦接触相互作用的动力系统的实时控制策略。混杂和欠驱动是这些系统的关键特性，使反馈控制器的设计复杂化。在这项研究中，我们研究和测试一种新的反馈控制器设计的平面推动系统，其目的是控制一个滑动的物体在平面上使用点机器人推杆的运动。推杆滑块是一个简单的动力系统，保留了许多典型的机器人操作任务的挑战。
我们的研究结果表明，与整数规划串联使用的模型预测控制方法提供了一个强大的解决方案，以捕捉与摩擦锥以及混合性质的接触的动态约束。为了实现实时控制，简化提出了加快整数规划。引入模式族（FOM）的概念，通过选择一组接触模式时间表来解决在线凸优化问题，该时间表跨越了预测范围内可能发生的大量动态行为。控制器的设计应用于稳定的运动的滑动对象的名义轨迹，并重新规划其轨迹实时跟踪移动目标。我们验证控制器的设计，通过数值模拟和实验结果的工业ABB IRB 120机械臂。
This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback controllers. In this research, we examine and test a novel feedback controller design on a planar pushing system, where the purpose is to control the motion of a sliding object on a flat surface using a point robotic pusher. The pusher-slider is a simple dynamical system that retains many of the challenges that are typical of robotic manipulation tasks.
Our results show that a model predictive control approach used in tandem with integer programming offers a powerful solution to capture the dynamic constraints associated with the friction cone as well as the hybrid nature of the contact. In order to achieve real-time control, simplifications are proposed to speed up the integer program. The concept of Family of Modes (FOM) is introduced to solve an online convex optimization problem by selecting a set of contact mode schedules that spans a large set of dynamic behaviors that can occur during the prediction horizon. The controller design is applied to stabilize the motion of a sliding object about a nominal trajectory, and to re-plan its trajectory in real-time to follow a moving target. We validate the controller design through numerical simulations and experimental results on an industrial ABB IRB 120 robotic arm.
DOI：
10.1007/978-3-319-33461-5_3
发表时间：
2016
期刊：
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影响因子：
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作者：
Dadush D
通讯作者：
Dadush D