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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Main Authors: Pei Jiang, Shuihua Huang, Ji Xiang, Michael Z. Q. Chen
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
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.
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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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AT shuihuahuang iterativelysuccessiveprojectionanovelcontinuousapproachforthetaskbasedcontrolofredundantrobots
AT jixiang iterativelysuccessiveprojectionanovelcontinuousapproachforthetaskbasedcontrolofredundantrobots
AT michaelzqchen iterativelysuccessiveprojectionanovelcontinuousapproachforthetaskbasedcontrolofredundantrobots