Model Predictive Control Under Hard Collision Avoidance Constraints for a Robotic Arm

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Model Predictive Control Under Hard Collision Avoidance Constraints for a Robotic Arm

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Model Predictive Control Under Hard Collision Avoidance Constraints for a Robotic Arm

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

—

Návaznosti

R - Projekt Ramcoveho programu EK

Rok uplatnění

2024

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2024 21st International Conference on Ubiquitous Robots (UR)

ISBN

979-8-3503-6107-0

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

701-706

Název nakladatele

IEEE Xplore

Místo vydání

—

Místo konání akce

New York

Datum konání akce

24. 6. 2024

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001283831100047