Loading...

Stabilization of robots with actuator constraints via interconnection and damping assignment

Jafari Harandi, M. R ; Sharif University of Technology | 2023

0 Viewed
  1. Type of Document: Article
  2. DOI: 10.1109/TCST.2023.3273902
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2023
  4. Abstract:
  5. Actuator limitations hinder high-performance control of robotic manipulators. The problem is particularly challenging in case of underactuated robots where the issue has received less attention. In this brief, we investigate stabilization of manipulators under input constraints via total energy shaping. For this purpose, we use interconnection and damping assignment passivity-based control (IDA-PBC) together with an optimization technique to keep actuator torque close to allowable limits. Using a subsequent technique, the actuator torques are ensured to stay within the specified bounds for special classes of manipulators. The results are verified through simulations on a 2 degree-of-freedom (DOF) SpiderCrane. Moreover, experiments on a cable-driven robot (CDR) demonstrate performance of the proposed method. © 1993-2012 IEEE
  6. Keywords:
  7. Actuator limitation ; Passivity-based control (PBC) ; Robotic systems ; Total energy shaping
  8. Source: IEEE Transactions on Control Systems Technology ; Volume 31, Issue 6 , 2023 , Pages 2945-2952 ; 10636536 (ISSN)
  9. URL: https://ieeexplore.ieee.org/document/10140153