Study on operational space control of a redundant robot with un-actuated joints: experiments under actuation failure scenarios

Authors
Lee, YisooTsagarakis, NikosLee, Jinoh
Issue Date
2021-07
Publisher
SPRINGER
Citation
NONLINEAR DYNAMICS, v.105, no.1, pp.331 - 344
Abstract
This paper analyzes operational space dynamics for redundant robots with un-actuated joints and reveals their highly nonlinear dynamic impacts on operational space control (OSC) tasks. Unlike conventional OSC approaches that partly address the under-actuated system by introducing rigid grasping or contact constraints, we deal with the problem even without such physical constraints which have been overlooked, yet it includes a wide range of applications such as free-floating robots and manipulators with passive joints or unwanted actuation failure. In addition, as an intuitive application example of the drawn result, an OSC is formulated as an optimization problem to alleviate the dynamics disturbance stemmed from the un-actuated joints and to satisfy other inequality constraints. The dynamic analysis and the proposed control method are verified by a number of numerical simulations as well as physical experiments with a 7-degrees-of-freedom robotic arm. In particular, we consider joint actuation failure scenarios that can be occurred at certain joints of a torque-controlled robot and practical case studies are performed with an actual redundant robot arm.
Keywords
CONTROL FRAMEWORK; UNIFIED APPROACH; PASSIVE JOINTS; MANIPULATORS; FORCE; DYNAMICS; MOTION; TORQUE; CONTROL FRAMEWORK; UNIFIED APPROACH; PASSIVE JOINTS; MANIPULATORS; FORCE; DYNAMICS; MOTION; TORQUE; Nonlinear robot dynamics; Operational space formulation; Robot control; Under-actuated robot
ISSN
0924-090X
URI
https://pubs.kist.re.kr/handle/201004/116820
DOI
10.1007/s11071-021-06545-6
Appears in Collections:
KIST Article > 2021
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