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首页> 外文期刊>Journal of Computational and Nonlinear Dynamics >Control of Redundant Mechanical Systems Under Equality and Inequality Constraints on Both Input and Constraint Forces
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Control of Redundant Mechanical Systems Under Equality and Inequality Constraints on Both Input and Constraint Forces

机译：输入力和约束力相等和不等式约束下的冗余机械系统控制

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The equality and inequality constraints on constraint force and/or the actuator force/torque arise in several robotic applications, for which different controllers have been specifically developed. This paper presents a unified approach to control a rather general class of robotic systems with closed loops under a set of linear equality and inequality constraints using the notion of projection operator. The controller does not require the kinematic constraints to be independent, i.e., systems with time-varying topology can be dealt with, while demanding minimum-norm actuation force or torque in the case that the system becomes redundant. The orthogonal decomposition of the control input force yields the null-space component and its orthogonal complement. The null-space component is obtained using the projected inverse dynamics control law, while the orthogonal complement component is found through solving a quadratic programming problem, in which the equality and inequality constraints are derived to be equivalent to the originally specified ones. Finally, a case study is presented to demonstrate how the control technique can be applied to multi-arms manipulation of an object.
机译：在几种机器人应用中出现了对约束力和/或致动器力/转矩的相等和不平等约束，为此专门开发了不同的控制器。本文提出了一种统一的方法，该方法使用投影算子的概念在一组线性等式和不等式约束下控制具有闭环的相当通用的机器人系统类别。控制器不需要运动学约束是独立的，即，可以处理具有时变拓扑的系统，同时在系统变得多余的情况下要求最小标准的致动力或扭矩。控制输入​​力的正交分解产生零空间分量及其正交补数。使用投影逆动力学控制定律获得零空间分量，而通过求解二次规划问题找到正交补码分量，在该二次规划问题中，等式和不等式约束被推导为与最初指定的相等。最后，提供了一个案例研究来说明如何将控制技术应用于对象的多臂操作。

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