Model Predictive Control Under Hard Collision Avoidance Constraints for a Robotic Arm
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F24%3A00380687" target="_blank" >RIV/68407700:21730/24:00380687 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/UR61395.2024.10597485" target="_blank" >https://doi.org/10.1109/UR61395.2024.10597485</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/UR61395.2024.10597485" target="_blank" >10.1109/UR61395.2024.10597485</a>
Alternative languages
Result language
angličtina
Original language name
Model Predictive Control Under Hard Collision Avoidance Constraints for a Robotic Arm
Original language description
We design a method to control the motion of a manipulator robot while strictly enforcing collision avoidance in a dynamic obstacle field. We rely on model predictive control while formulating collision avoidance as a hard constraint. We express the constraint as the requirement for a signed distance function to be positive between pairs of strictly convex objects. Among various formulations, we provide a suitable definition for this signed distance and the analytical derivatives the numerical solver needs to enforce the constraint. The method is completely implemented on a manipulator “Panda” robot, and the efficient open-source implementation is provided along with the paper. We experimentally demonstrate the efficiency of our approach by performing dynamic tasks in an obstacle field while reacting to non-modeled perturbations.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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Continuities
R - Projekt Ramcoveho programu EK
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2024 21st International Conference on Ubiquitous Robots (UR)
ISBN
979-8-3503-6107-0
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
701-706
Publisher name
IEEE Xplore
Place of publication
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Event location
New York
Event date
Jun 24, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001283831100047