Iteratively Successive Projection: A Novel Continuous Approach for the Task-Based Control of Redundant Robots
The task-based control approach with an activation task mechanism endows a robot the possibility to act complex behaviors in an unstructured environment. However, the task-based control approach based on the classical inverse may suffer from discontinuities as tasks switch between inactive and activ...
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Format: | Article |
Language: | English |
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IEEE
2019-01-01
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Series: | IEEE Access |
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Online Access: | https://ieeexplore.ieee.org/document/8643925/ |
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author | Pei Jiang Shuihua Huang Ji Xiang Michael Z. Q. Chen |
author_facet | Pei Jiang Shuihua Huang Ji Xiang Michael Z. Q. Chen |
author_sort | Pei Jiang |
collection | DOAJ |
description | The task-based control approach with an activation task mechanism endows a robot the possibility to act complex behaviors in an unstructured environment. However, the task-based control approach based on the classical inverse may suffer from discontinuities as tasks switch between inactive and active states. In this paper, an iteratively successive projection method is proposed to construct a null space projection operator by iteratively successive projecting the space between the null space of each task. And the null space projection operator constructed by the iteratively successive projection method should converge to the null space projection operator obtained by the classical inverse, as the iteration time increases to infinity. By introducing activation factors, a continuous projection operator is obtained with a finite-time iteration. Based on the continuous projection operator, a closed-loop control algorithm is presented, which ensures both the continuity of the joint motion and the boundedness of the tracking error. The simulations on a six-link planar manipulator for the trajectory tracking task in the presence of obstacles show the efficacy of the proposed method in continuity, stability, and calculation-time consumption. |
first_indexed | 2024-12-19T13:34:09Z |
format | Article |
id | doaj.art-7905cec24e7e4ec98611e3c23878b538 |
institution | Directory Open Access Journal |
issn | 2169-3536 |
language | English |
last_indexed | 2024-12-19T13:34:09Z |
publishDate | 2019-01-01 |
publisher | IEEE |
record_format | Article |
series | IEEE Access |
spelling | doaj.art-7905cec24e7e4ec98611e3c23878b5382022-12-21T20:19:16ZengIEEEIEEE Access2169-35362019-01-017253472535810.1109/ACCESS.2019.29000868643925Iteratively Successive Projection: A Novel Continuous Approach for the Task-Based Control of Redundant RobotsPei Jiang0https://orcid.org/0000-0003-3471-4151Shuihua Huang1Ji Xiang2Michael Z. Q. Chen3College of Mechanical Engineering, University of Chongqing, Chongqing, ChinaHangzhou Hikvision Digital Technology Co., Ltd., Hangzhou, ChinaDepartment of System Science and Engineering, Zhejiang University, Hangzhou, ChinaSchool of Automation, Nanjing University of Science and Technology, Nanjing, ChinaThe task-based control approach with an activation task mechanism endows a robot the possibility to act complex behaviors in an unstructured environment. However, the task-based control approach based on the classical inverse may suffer from discontinuities as tasks switch between inactive and active states. In this paper, an iteratively successive projection method is proposed to construct a null space projection operator by iteratively successive projecting the space between the null space of each task. And the null space projection operator constructed by the iteratively successive projection method should converge to the null space projection operator obtained by the classical inverse, as the iteration time increases to infinity. By introducing activation factors, a continuous projection operator is obtained with a finite-time iteration. Based on the continuous projection operator, a closed-loop control algorithm is presented, which ensures both the continuity of the joint motion and the boundedness of the tracking error. The simulations on a six-link planar manipulator for the trajectory tracking task in the presence of obstacles show the efficacy of the proposed method in continuity, stability, and calculation-time consumption.https://ieeexplore.ieee.org/document/8643925/Robot kinematicsredundancymotion controlnull-space projectiondiscontinuity |
spellingShingle | Pei Jiang Shuihua Huang Ji Xiang Michael Z. Q. Chen Iteratively Successive Projection: A Novel Continuous Approach for the Task-Based Control of Redundant Robots IEEE Access Robot kinematics redundancy motion control null-space projection discontinuity |
title | Iteratively Successive Projection: A Novel Continuous Approach for the Task-Based Control of Redundant Robots |
title_full | Iteratively Successive Projection: A Novel Continuous Approach for the Task-Based Control of Redundant Robots |
title_fullStr | Iteratively Successive Projection: A Novel Continuous Approach for the Task-Based Control of Redundant Robots |
title_full_unstemmed | Iteratively Successive Projection: A Novel Continuous Approach for the Task-Based Control of Redundant Robots |
title_short | Iteratively Successive Projection: A Novel Continuous Approach for the Task-Based Control of Redundant Robots |
title_sort | iteratively successive projection a novel continuous approach for the task based control of redundant robots |
topic | Robot kinematics redundancy motion control null-space projection discontinuity |
url | https://ieeexplore.ieee.org/document/8643925/ |
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