During the operation process of the manipulator, it is important to be aware of the environmental changes or external disturbances that may occur. These can impact the manipulator’s effectiveness and should be considered for optimal performance. We conducted research that combined model predictive control (MPC) and whole-body control (WBC) to present a controller for this scenario. Our MPC predicted the end-effector motion using the linearized robot dynamics equation in operational space and provided feasible trajectories while considering obstacles represented by linear inequality constraints. In WBC, we set the end-effector task as the highest priority and adopted hierarchical quadratic programming (HQP) to prevent disturbances from affecting the end-effector. To verify the expected performance of our controller, we conducted simulations and experiments on the Flexiv Rizon 4 s. The results showed that our controller performed well and met the desired criteria.


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    Title :

    Trajectory Tracking Control for Robot Manipulator Under Dynamic Environment


    Additional title:

    Lect.Notes Computer


    Contributors:
    Yang, Huayong (editor) / Liu, Honghai (editor) / Zou, Jun (editor) / Yin, Zhouping (editor) / Liu, Lianqing (editor) / Yang, Geng (editor) / Ouyang, Xiaoping (editor) / Wang, Zhiyong (editor) / Wang, Yushi (author) / Pang, Yanbo (author)

    Conference:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Publication date :

    2023-10-16


    Size :

    12 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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