Predictive End-Effector Control of Manipulators on Moving Platforms Under Disturbance

This article proposes a predictive end-effector control method for manipulators operating on mobile platforms subjected to unwanted base motion. Time series is used to forecast the base motion using historical state information. Then, a trajectory specified in the inertial frame is transformed to a...

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Bibliographic Details
Published in:IEEE transactions on robotics 2021-12, Vol.37 (6), p.2210-2217
Main Authors: Woolfrey, Jon, Lu, Wenjie, Liu, Dikai
Format: Article
Language:English
Subjects:
Constraints
Control methods
End effectors
Error reduction
Feasibility
Feedback control
Forecasting
Linear functions
Manipulators
Mobile robots
Optimization
Platforms
Predictive control
Quadratic programming
quadratic programming (QP)
Robot arms
Robot motion
robot motion control
Tracking errors
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Summary:This article proposes a predictive end-effector control method for manipulators operating on mobile platforms subjected to unwanted base motion. Time series is used to forecast the base motion using historical state information. Then, a trajectory specified in the inertial frame is transformed to a predicted trajectory with respect to the manipulator. By tracking this transformed trajectory, the manipulator negates the base motion. A model-predictive control problem is formulated via quadratic programming (QP) to track said trajectory over the prediction horizon. Only the first control action in the control sequence is constrained by kinematic feasibility. In this manner, QP can be swiftly solved with linear inequality constraints. It is shown that the actual joint trajectory executed by the manipulator is always kinematically feasible. Moreover, tracking error can still be reduced despite future predicted control actions being infeasible. The method is validated through both simulation and experiment. The proposed method can reduce pose error by over 60% compared to a proportional-integral feedback controller.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2021.3072544