Using Dynamics to Consider Torque Constraints in Manipulator Planning With Heavy Loads
| Autor: | Aneesh Sharma, Oscar Chuy, Emmanuel G. Collins, Ryan Kopinsky |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
Physics
0209 industrial biotechnology Mechanical Engineering Dynamics (mechanics) Control engineering 02 engineering and technology Computer Science Applications Computer Science::Robotics 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine Control and Systems Engineering Control theory 030220 oncology & carcinogenesis Torque Manipulator Instrumentation Information Systems |
| Zdroj: | Journal of Dynamic Systems, Measurement, and Control. 139 |
| ISSN: | 1528-9028 0022-0434 |
| DOI: | 10.1115/1.4035168 |
| Popis: | Input constraints are active in robot trajectory planning when a mobile robot traverses mobility challenges such as steep hills that limit the acceleration of the robot due to the torque constraints of the motor or engine or in manipulator lifting tasks when the load is sufficiently heavy that the torque constraints of the robot's motor prevent it from statically supporting the load in regions of the robot's workspace. This paper presents a general methodology for solving these planning tasks using a minimum-time cost function and applies it to the problem of a multiple degrees-of-freedom (DOF) manipulator lifting a heavy load. Planning for these types of problems requires use of the robot's dynamic model. Here, we plan using sampling-based model predictive optimization (SBMPO), which is only practical if the planning can be done quickly. Hence, substantial attention is given to efficient computations by: (1) using the dynamic model without integrating it, (2) using optimal control theory to develop an “optimistic A* estimate of cost-to-goal,” which is in this case a rigorous lower bound on the minimum time from a current state to a goal state, and (3) using prior experience to speed up the computation of a new trajectory. The methodology is experimentally verified for heavy lifting using a two-link manipulator. |
| Databáze: | OpenAIRE |
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