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.
Trajectory Tracking Control for Robot Manipulator Under Dynamic Environment
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
2023-10-16
12 pages
Article/Chapter (Book)
Electronic Resource
English
Model predictive control , Whole-body control , Robot manipulator Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , User Interfaces and Human Computer Interaction , Computer Communication Networks , Special Purpose and Application-Based Systems
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