Viability and feasibility of constrained kinematic control of manipulators

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Abstract

Recent advances in planning and control of robot manipulators make an increasing use of optimization-based techniques, such as model predictive control. In this framework, ensuring the feasibility of the online optimal control problem is a key issue. In the case of manipulators with bounded joint positions, velocities, and accelerations, feasibility can be guaranteed by limiting the set of admissible velocities and positions to a viable set. However, this results in the imposition of nonlinear optimization constraints. In this paper, we analyze the feasibility of the optimal control problem and we propose a method to construct a viable convex polyhedral that ensures feasibility of the optimal control problem by means of a given number of linear constraints. Experimental and numerical results on an industrial manipulator show the validity of the proposed approach.

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Faroni, M., Beschi, M., Pedrocchi, N., & Visioli, A. (2018). Viability and feasibility of constrained kinematic control of manipulators. Robotics, 7(3). https://doi.org/10.3390/robotics7030041

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