Stefano Stramigioli
Stefano Stramigioli
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and the By means of environment will control we can have its certain achieve a own behavior: robot dynamics
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Extreme cases
Position Control: Robot is isolated
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Conclusion
For an interactive system We CANNOT control intrinsically INDEPENDENTLY of the environment We CAN control intrinsically the behavior or dynamic relation
Stefano Stramigioli
IPC-Supervision Architecture
A good example of a well behaved interacting system is clearly a human, let's compare
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We can design a controller equivalent to a 3D multi-body system interconnected to the robot to be controlled: the controller will be a set of equivalent multibodies, spatial springs, all using ports and Port Controlled Hamiltonian Systems representation!
More general structures are also possible
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Stefano Stramigioli
Impedance Control 1D
m F
kc
k b
mc<<m
kc>>k
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Spatial Springs
If, by means of control, we define a 3D spring using a parameterization like Euler angles, we do not have a geometric description of the spring: no information about the center of compliance, instead:
Spatial Springs
where
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where
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Body 1
Body 2
It can be shown that varying RCC does 1/29/2013 NOT Semester on Control, Barcelona 2005 exchange energy !!
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Changing Length
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Virtual Object
VSS
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Controller Equations
Global, singularity free controller equations in explicit form look like:
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Controller Structure
The previous equations can be seen to be equivalent to the following scheme
Robot
IPC
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Model Robot
IPC
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Animation of algorithm
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The Snakeboard
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Direct control
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Control by Interconnection
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Without field-compensation
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With field-compensation
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Remarks Everything which has been presented is in continuous time. In practice we have sampling and we would like to see how to handle passivity then In practice very many physical systems can be represented by a Port-Hamiltonian System If we manage to find a Sampled Representation of a Port Hamiltonian System would be what we need!
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Passive Sampling
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Power Continuity
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State jump
Energy levels
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Case
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Case
Happens when decreas required close to a minimim increase required close to a maximum
Energy leap
We give out too much energy but
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Furthermore
After having included the damping term corresponding to explicitly into the equations, we can easily get an expression of the form:
and it should be
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Controlled System
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we obtain an equivalence between continuous time and discrete time energy flow in the sense that for each
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Remarks
The equivalence just sketched is NOT an approximation, but it is EXACT There is no better integral than phisycs itself: just measure positions We can always have an EXACT measure of energy levels even with INTER SAMPLING BEHAVIOUS !
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Motivations
Environment Slave-Robot
IPC
Channel
IPC
Master-Robot
Human
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Scattering mapping
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Scattering representation
Energy Packages
Since in the discrete time analogous we can consider the system as having the port variables frozen between one sample time and the next, we obtain:
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Tele-grasping
Global, singularity free controller equations in explicit form look like:
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Conclusion
Stefano Stramigioli
Conclusions
Ports allow to interconnect elements keeping track of energy Any physical element of interest can be put in the port-Hamiltonian framework Grasping Strategy Not only for Tip grasps ! Energy Springs is a measure of Energy Grasp Intuitive to understand
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Conclusions
Muscles are postural controlled viscous-elastic elements No contacts to no-contacts transitions Tele-manipulation Easily extendable to spatial tele-manipulation (Tra. R&A) Novel discretization algorithms available. Port Control necessary in n.l. compliant structures (Vassuras hand) 20-sim can generate ready to use code for a modeled system.
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