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Trajectory planning and time-independent motion control for a kinematically redundant hydraulic manipulator
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
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2009 (English)In: Advanced Robotics, 2009. ICAR 2009. International Conference on, IEEE conference proceedings, 2009, 1-6 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we consider the problem of motion planning and control of a kinematically redundant manipulator, which is used on forestry machines for logging. Once a desired path is specified in the 3D world frame, a trajectory can be planned and executed such that all joints are synchronized and constrained to the Cartesian path. We introduce an optimization procedure that takes advantage of the kinematic redundancy so that time-efficient joint and velocity profiles along the path can be obtained. Differential constraints imposed by the manipulator dynamics are accounted for by employing a phase-plane technique for admissible path timings. In hydraulic manipulators, such as considered here, the velocity constraints of the individual joints are particularly restrictive. We suggest a time-independent control scheme for the planned trajectory which is built upon the standard reference tracking controllers. Experimental tests underline the benefits and efficiency of the model-based trajectory planning and show success of the proposed control strategy.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2009. 1-6 p.
Keyword [en]
Trajectory Planning, Motion Control, Robotics in Agriculture and Forestry, Kinematically Redundant Manipulator
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Automatic Control
Identifiers
URN: urn:nbn:se:umu:diva-30079ISBN: 978-1-4244-4855-5 (print)ISBN: 978-3-8396-0035-1 (print)OAI: oai:DiVA.org:umu-30079DiVA: diva2:279365
Conference
14th International Conference on Advanced Robotics (ICAR 2009), 22-26 June 2009, Munich
Available from: 2009-12-03 Created: 2009-12-03 Last updated: 2014-04-09Bibliographically approved
In thesis
1. Principles for planning and analyzing motions of underactuated mechanical systems and redundant manipulators
Open this publication in new window or tab >>Principles for planning and analyzing motions of underactuated mechanical systems and redundant manipulators
2009 (English)Doctoral thesis, comprehensive summary (Other academic)
Alternative title[sv]
Metoder för rörelseplanering och analys av underaktuerade mekaniska system och redundanta manipulatorer
Abstract [en]

Motion planning and control synthesis are challenging problems for underactuated mechanical systems due to the presence of passive (non-actuated) degrees of freedom. For those systems that are additionally not feedback linearizable and with unstable internal dynamics there are no generic methods for planning trajectories and their feedback stabilization. For fully actuated mechanical systems, on the other hand, there are standard tools that provide a tractable solution. Still, the problem of generating efficient and optimal trajectories is nontrivial due to actuator limitations and motion-dependent velocity and acceleration constraints that are typically present. It is especially challenging for manipulators with kinematic redundancy.

A generic approach for solving the above-mentioned problems is described in this work. We explicitly use the geometry of the state space of the mechanical system so that a synchronization of the generalized coordinates can be found in terms of geometric relations along the target motion with respect to a path coordinate. Hence, the time evolution of the state variables that corresponds to the target motion is determined by the system dynamics constrained to these geometrical relations, known as virtual holonomic constraints. Following such a reduction for underactuated mechanical systems, we arrive at integrable second-order dynamics associated with the passive degrees of freedom. Solutions of this reduced dynamics, together with the geometric relations, can be interpreted as a motion generator for the full system. For fully actuated mechanical systems the virtually constrained dynamics provides a tractable way of shaping admissible trajectories.

Once a feasible target motion is found and the corresponding virtual holonomic constraints are known, we can describe dynamics transversal to the orbit in the state space and analytically compute a transverse linearization. This results in a linear time-varying control system that allows us to use linear control theory for achieving orbital stabilization of the nonlinear mechanical system as well as to conduct system analysis in the vicinity of the motion. The approach is applicable to continuous-time and impulsive mechanical systems irrespective of the degree of underactuation. The main contributions of this thesis are analysis of human movement regarding a nominal behavior for repetitive tasks, gait synthesis and stabilization for dynamic walking robots, and description of a numerical procedure for generating and stabilizing efficient trajectories for kinematically redundant manipulators.

Place, publisher, year, edition, pages
Umeå: Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2009. 88 + 8 papers p.
Series
Robotics and control lab, ISSN 1654-5419 ; 4
Keyword
Motion Planning, Underactuated Mechanical Systems, Redundant Manipulators, Virtual Holonomic Constraints, Orbital Stabilization, Human Movement, Walking Robots, Hydraulic Manipulators
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Automatic Control
Identifiers
urn:nbn:se:umu:diva-30024 (URN)978-91-7264-914-9 (ISBN)
Public defence
2010-02-05, Naturvetarhuset, N200, Umeå universitet, Umeå, 09:00 (English)
Opponent
Supervisors
Available from: 2009-12-15 Created: 2009-11-30 Last updated: 2011-02-09Bibliographically approved

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Mettin, UweLa Hera, Pedro X.Ortiz Morales, DanielShiriaev, AntonFreidovich, LeonidWesterberg, Simon

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