Multi-task closed-loop inverse kinematics stability through semidefinite programming
| Autor: | Angel Santamaria-Navarro, Carlos Ocampo-Martinez, Josep Marti-Saumell, Juan Andrade-Cetto |
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| Přispěvatelé: | Universitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió, Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Institut de Robòtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control, Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Mathematical optimization Optimization problem Informàtica::Automàtica i control [Àrees temàtiques de la UPC] Computer science Stability (learning theory) 02 engineering and technology Kinematics Computer Science::Robotics Computer Science - Robotics Automation::Robots [Classificació INSPEC] 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Semidefinite programming Lyapunov stability Closed-loop inverse kinematics Hierarchical inverse kinematics Inverse kinematics Linear matrix inequality Robot 020201 artificial intelligence & image processing Robotics (cs.RO) Humanoid robot Numerical stability |
| Zdroj: | ICRA UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC) 2020 IEEE International Conference on Robotics and Automation (ICRA) Digital.CSIC. Repositorio Institucional del CSIC instname |
| Popis: | Trabajo presentado en la IEEE International Conference on Robotics and Automation (ICRA), celebrada de forma virtual en París (Francia) del 31 de mayo al 31 de agosto de 2020 Today's complex robotic designs comprise in some cases a large number of degrees of freedom, enabling for multi-objective task resolution (e.g., humanoid robots or aerial manipulators). This paper tackles the local stability problem of a hierarchical closed-loop inverse kinematics algorithm for such highly redundant robots. We present a method to guarantee this system stability by performing an online tuning of the closed-loop control gains. We define a semi-definite programming problem (SDP) with these gains as decision variables and a discrete-time Lyapunov stability condition as a linear matrix inequality, constraining the SDP optimization problem and guaranteeing the local stability of the prioritized tasks. To the best of authors' knowledge, this work represents the first mathematical development of an SDP formulation that introduces these stability conditions for a multi-objective closed-loop inverse kinematic problem for highly redundant robots. The validity of the proposed approach is demonstrated through simulation case studies, including didactic examples and a Matlab toolbox for the benefit of the community. |
| Databáze: | OpenAIRE |
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