Mazin Hamad, Jesus Gutierrez-Moreno, Hugo T. M. Kussaba, Nico Mansfeld, Saeed Abdolshah, Abdalla Swikir and Sami Haddadin
Proceedings of IFAC World Congress
Abstract
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The first approach is realtime capable but conservative considering the usage of the available feasible actuator control region, resulting in longer braking times. In contrast, the second approach maximizes the used
braking control inputs at the cost of requiring more time to evaluate larger, feasible modal limits via optimization.
Both approaches allow for predicting the robot’s stopping trajectory online. In addition, we also formulated and solved a constrained, nonlinear final-time minimization problem to find optimal torque inputs. The optimal solutions were used as a benchmark to evaluate the performance of the proposed predictable braking framework. A comparative study was compiled in simulation versus a classical optimal controller on a 7-DoF robot arm with only three moving joints. The results verified the effectiveness of our proposed framework and its integrated approaches in achieving fast robot braking manoeuvers with accurate online predictions of the stopping trajectories and distances under various braking settings.
@INPROCEEDINGS {HaGu-MoKuMaAbSwHa:23,
author = "Mazin Hamad, Jesus Gutierrez-Moreno, Hugo T. M. Kussaba, Nico Mansfeld, Saeed Abdolshah, Abdalla Swikir and Sami Haddadin",
title = "Fast braking maneuvers for online robot control with stopping trajectory prediction",
booktitle = "IFAC World Congress",
year = "2023",
month = "jul"
}