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Closed-Loop Inverse Kinematics

Schemes for Constrained Redundant


Manipulator with Task Space Augmentation
and Task Priority Strategy

발표 : 박민제(박사과정)
Pasquale Chiacchio
Stefano Chiaverini
Lorenzo Sciavicco
Bruno Siciliano

University of Napoli, Italy

Background

Direct Kinematic Equation


x E = f E (q)
Rate Control
x& E = J E (q)q&
Inverse Rate Control

q& E = J ∗E x& E = J TE (J E J TE ) −1 x& E

1
Pitfalls

Singularity
Instantaneous loss of some degree of freedom

Error Control
Single Step Least Square Solution

Feedback & Redundancy

Feedback
Tracking Error
e E = x Ed − x E

Lyapunov Stability Theory

rank m

q& E = J TE K Ee E
positive definite matrix

2
Redundancy
Redundancy ??
Typical under-determined system

Additional Constraints
Avoidance of Obstacles,
Torque Minimization,
…,
Task Space Augmentation,
Task Priority Strategy

Task Space Augmentation


Augmented Jacobian (Extended Jacobian)

J 
&x =  E q& = Jq&
J C 
q& = J T Ke

Some problem may arise when

Ke ∈ Null (J T )

3
Task Priority Strategy
Using Null Space of JE
q& E = J ∗E x& Ed + [I − J ∗E J E ]q& o

produce no motion
at the end-effector,

typically, the gradient of


scalar quadratic functions

Task Priority with Feedback

first task second task

q& E = J TE K Ee E + [I − J ∗E J E ]J CT K CeC

q& E = J *E [x& Ed + K Ee E ] + [I − J ∗E J E ]J CT K CeC

4
Task Priority with Feedback

f C (⋅)

eC
KC *
(I−JE JE)JC
*


*
eE KE JE

f E (⋅)

Experimental Result

First task
circle !!

Second task
q1 + q 2 + q 3 = −90o

5
Experimental Result

Task Space Augmentation

Experimental Result

Task Priority with Jacobian Transpose

6
Experimental Result

Task Priority with Pseudo-inverse

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