Open loop stable control in repetitive manipulation tasks

Michiel Plooij, Wouter Wolfslag, Martijn Wisse

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

Most conventional robotic arms depend on sensory feedback to perform their tasks. When feedback is inaccurate, slow or otherwise unreliable, robots should behave more like humans: rely on feedforward instead. This paper presents an approach to perform repetitive tasks with robotic arms, without the need for feedback (i.e. the control is open loop). The cyclic motions of the repetitive tasks are analyzed using an approach similar to limit cycle theory. We optimize open loop control signals that result in open loop stable motions. This approach to manipulator control was implemented on a two DOF arm in the horizontal plane with a spring on the first DOF, of which we show simulation and hardware results. The results show that both in simulation and in hardware experiments, it is possible to create open loop stable cycles. However, the two resulting cycles are different due to model inaccuracies. We also show simulation and hardware results for an inverted pendulum, of which we have a more accurate model. These results show stable cycles that are the same in simulation and hardware experiments.
Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationHong Kong, China
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages949-956
Number of pages8
ISBN (Electronic)978-1-4799-3685-4
DOIs
Publication statusPublished - 29 Sept 2014
Event2014 IEEE International Conference on Robotics and Automation - Hong Kong, China
Duration: 31 May 20147 Jun 2014
http://www.icra2014.com/

Conference

Conference2014 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2014
Country/TerritoryChina
CityHong Kong
Period31/05/147/06/14
Internet address

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