Closed-loop admittance and motion control strategies for safe robotic manipulation tasks subject to contacts
Autor(a) principal: | |
---|---|
Data de Publicação: | 2021 |
Tipo de documento: | Tese |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UFMG |
Texto Completo: | http://hdl.handle.net/1843/37025 https://orcid.org/0000-0003-4083-5355 |
Resumo: | This thesis contributes to the field of manipulation regarding tasks involving contact with the environment, focusing on safety. To this end, a control architecture is proposed where there is an admittance controller in an outer-loop, which changes the reference trajectory to the robot end-effector to achieve a desired compliant behavior, and a motion controller in an inner-loop used to track this trajectory. More specifically, a six-degree-of-freedom task-space admittance controller using dual quaternion logarithmic mapping is developed in order to impose a desired apparent impedance to the robot. The controller couples the translation and rotation impedance in a single mathematical structure, it is designed based on the energy of the system, and the stiffness matrix is built to be consistent with the task geometry. Furthermore, the formulation is free of topological obstruction, and a solution for the unwinding phenomenon based on a switched error function is presented. Regarding the inner-loop, the choice of the motion controller should take into account the type of actuation of the robot (velocity/position or torque) and the availability of the robot model. On the one hand, if the robot is actuated in torque, appropriate pose controllers for physical interactions are usually based on the robot dynamics as it enables more accurate analyses and helps in the synthesis of the robot dynamic behavior. In those controllers, the ill-conditioning of the joint-space inertia matrix plays an important role. Due to this ill-conditioning, small perturbations in the system can produce large changes in the numerical solutions, which may lead to poor performance or even instability, resulting in unsafe interactions. To overcome these problems, this thesis presents a controller in which the joint-space inertia matrix conditioning is adapted online, consequently enhancing the closed-loop performance. On the other hand, if the robot is actuated in velocity/position, a controller based on the robot kinematics is commonly used. Hence, a kinematic controller based on the dual quaternion logarithmic mapping is also developed. The algorithms proposed in this thesis are validated in simulation and/or experimentally on a robot manipulator and an extension of the proposed architecture for the whole-body case, considering a bimanual mobile manipulator, is also evaluated in simulation. Furthermore, statistical analyses are used to compare the performance of these controllers to other ones of the state of the art, and the results show that the developed techniques are at least as good as or outperforms the ones from the literature. |
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Bruno Vilhena Adornohttp://lattes.cnpq.br/3363634987221133Philippe FraisseLuciano Cunha de Araújo PimentaLuiz ChaimowiczFernando Cézar LizarraldeGlauco Augusto de Paula Caurinhttp://lattes.cnpq.br/0409296433528298Mariana de Paula Assis Fonseca2021-07-27T18:17:44Z2021-07-27T18:17:44Z2021-03-01http://hdl.handle.net/1843/37025https://orcid.org/0000-0003-4083-5355This thesis contributes to the field of manipulation regarding tasks involving contact with the environment, focusing on safety. To this end, a control architecture is proposed where there is an admittance controller in an outer-loop, which changes the reference trajectory to the robot end-effector to achieve a desired compliant behavior, and a motion controller in an inner-loop used to track this trajectory. More specifically, a six-degree-of-freedom task-space admittance controller using dual quaternion logarithmic mapping is developed in order to impose a desired apparent impedance to the robot. The controller couples the translation and rotation impedance in a single mathematical structure, it is designed based on the energy of the system, and the stiffness matrix is built to be consistent with the task geometry. Furthermore, the formulation is free of topological obstruction, and a solution for the unwinding phenomenon based on a switched error function is presented. Regarding the inner-loop, the choice of the motion controller should take into account the type of actuation of the robot (velocity/position or torque) and the availability of the robot model. On the one hand, if the robot is actuated in torque, appropriate pose controllers for physical interactions are usually based on the robot dynamics as it enables more accurate analyses and helps in the synthesis of the robot dynamic behavior. In those controllers, the ill-conditioning of the joint-space inertia matrix plays an important role. Due to this ill-conditioning, small perturbations in the system can produce large changes in the numerical solutions, which may lead to poor performance or even instability, resulting in unsafe interactions. To overcome these problems, this thesis presents a controller in which the joint-space inertia matrix conditioning is adapted online, consequently enhancing the closed-loop performance. On the other hand, if the robot is actuated in velocity/position, a controller based on the robot kinematics is commonly used. Hence, a kinematic controller based on the dual quaternion logarithmic mapping is also developed. The algorithms proposed in this thesis are validated in simulation and/or experimentally on a robot manipulator and an extension of the proposed architecture for the whole-body case, considering a bimanual mobile manipulator, is also evaluated in simulation. Furthermore, statistical analyses are used to compare the performance of these controllers to other ones of the state of the art, and the results show that the developed techniques are at least as good as or outperforms the ones from the literature.A presente tese contribui para o campo de manipulação de tarefas que envolvem contato com o ambiente, focando em segurança. Para este fim, uma arquitetura de controle é proposta onde há um controlador de admitância em um laço externo, que altera a trajetória de referência do efetuador a fim de atingir o comportamento complacente desejado, e um controlador de movimento em um laço interno, usado para acompanhar esta trajetória. Mais especificamente, um controlador de admitância de seis graus de liberdade no espaço da tarefa usando o mapeamento logarítmico de quatérnios duais é desenvolvido para impor uma impedância desejada aparente no robô. O controlador acopla a impedância de translação e de rotação em uma única estrutura matemática, ele é projetado baseado na energia do sistema, e a matriz de rigidez é construída para ser consistente com o geometria da tarefa. Além disso, a formulação é livre de obstrução topológica e uma solução para o fenômeno de unwinding baseado em uma função chaveada do erro é apresentada. Em relação ao laço interno, a escolha do controlador de movimento deve levar em conta o tipo de atuação do robô (velocidade/posição ou torque), e a disponibilidade do modelo do robô. Se o robô é atuado em torque, um controlador de pose apropriado para interações físicas é geralmente baseado na dinâmica do robô, uma vez que isso permite uma análise mais precisa e ajuda na sítese do comportamento dinâmico do mesmo. Nesses controladores, o mau condicionamento da matriz de inércia no espaço das juntas tem um papel importante. Devido ao mau condicionamento, pequenas perturbações no sistema podem levar a grandes mudanças nas soluções numéricas, o que pode gerar uma performance ruim do controlador, ou até mesmo instabilidade, resultando em uma interação insegura. Para contornar esses problemas, esta tese apresenta um controlador no qual o condicionamento da matriz de inércia no espaço das juntas é adaptado online, consequentemente melhorando a performance do sistema em malha fechada. Se o robô é atuado em velocidade/posição, um controlador baseado no seu modelo cinemático é comumente utilizado. Dessa forma, um controlador cinemático baseado no mapeamento logarítmico de quatérnios duais é desenvolvido. Os algoritmos propostos nesta tese foram validados em simulação e/ou experimentalmente em um robô manipulador, e uma extensão da arquitetura proposta para o caso de corpo completo, considerando um manipulador móvel bimanual, também foi avaliada em simulação. Além disso, análises estatísticas foram utilizadas para comparar a performance desses controladores com outros do estado da arte, e os resultados mostraram que as técnicas desenvolvidas são pelo menos tão boas quanto ou melhores do que as da literatura.CNPq - Conselho Nacional de Desenvolvimento Científico e TecnológicoCAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível SuperiorOutra AgênciaengUniversidade Federal de Minas GeraisPrograma de Pós-Graduação em Engenharia ElétricaUFMGBrasilENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICAENGENHARIA - ESCOLA DE ENGENHARIAhttp://creativecommons.org/licenses/by-nc-nd/3.0/pt/info:eu-repo/semantics/openAccessEngenharia elétricaQuatérniosRobôs - Sistemas de controleTasks subject to contactsInteraction forcesAdmittance controlAdaptive controlWhole-body controlDual quaternionClosed-loop admittance and motion control strategies for safe robotic manipulation tasks subject to contactsinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/doctoralThesisreponame:Repositório Institucional da UFMGinstname:Universidade Federal de Minas Gerais (UFMG)instacron:UFMGORIGINALDoutoradoMarianaFonsecaPDFA.pdfDoutoradoMarianaFonsecaPDFA.pdfTese de Doutorado de Mariana de Paula Assis Fonsecaapplication/pdf51678409https://repositorio.ufmg.br/bitstream/1843/37025/1/DoutoradoMarianaFonsecaPDFA.pdfdd1ac8698602f882b217fc912fd17fc0MD51CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8811https://repositorio.ufmg.br/bitstream/1843/37025/2/license_rdfcfd6801dba008cb6adbd9838b81582abMD52LICENSElicense.txtlicense.txttext/plain; charset=utf-82118https://repositorio.ufmg.br/bitstream/1843/37025/3/license.txtcda590c95a0b51b4d15f60c9642ca272MD531843/370252021-07-27 15:17:44.323oai:repositorio.ufmg.br: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ório de PublicaçõesPUBhttps://repositorio.ufmg.br/oaiopendoar:2021-07-27T18:17:44Repositório Institucional da UFMG - Universidade Federal de Minas Gerais (UFMG)false |
dc.title.pt_BR.fl_str_mv |
Closed-loop admittance and motion control strategies for safe robotic manipulation tasks subject to contacts |
title |
Closed-loop admittance and motion control strategies for safe robotic manipulation tasks subject to contacts |
spellingShingle |
Closed-loop admittance and motion control strategies for safe robotic manipulation tasks subject to contacts Mariana de Paula Assis Fonseca Tasks subject to contacts Interaction forces Admittance control Adaptive control Whole-body control Dual quaternion Engenharia elétrica Quatérnios Robôs - Sistemas de controle |
title_short |
Closed-loop admittance and motion control strategies for safe robotic manipulation tasks subject to contacts |
title_full |
Closed-loop admittance and motion control strategies for safe robotic manipulation tasks subject to contacts |
title_fullStr |
Closed-loop admittance and motion control strategies for safe robotic manipulation tasks subject to contacts |
title_full_unstemmed |
Closed-loop admittance and motion control strategies for safe robotic manipulation tasks subject to contacts |
title_sort |
Closed-loop admittance and motion control strategies for safe robotic manipulation tasks subject to contacts |
author |
Mariana de Paula Assis Fonseca |
author_facet |
Mariana de Paula Assis Fonseca |
author_role |
author |
dc.contributor.advisor1.fl_str_mv |
Bruno Vilhena Adorno |
dc.contributor.advisor1Lattes.fl_str_mv |
http://lattes.cnpq.br/3363634987221133 |
dc.contributor.advisor-co1.fl_str_mv |
Philippe Fraisse |
dc.contributor.referee1.fl_str_mv |
Luciano Cunha de Araújo Pimenta |
dc.contributor.referee2.fl_str_mv |
Luiz Chaimowicz |
dc.contributor.referee3.fl_str_mv |
Fernando Cézar Lizarralde |
dc.contributor.referee4.fl_str_mv |
Glauco Augusto de Paula Caurin |
dc.contributor.authorLattes.fl_str_mv |
http://lattes.cnpq.br/0409296433528298 |
dc.contributor.author.fl_str_mv |
Mariana de Paula Assis Fonseca |
contributor_str_mv |
Bruno Vilhena Adorno Philippe Fraisse Luciano Cunha de Araújo Pimenta Luiz Chaimowicz Fernando Cézar Lizarralde Glauco Augusto de Paula Caurin |
dc.subject.por.fl_str_mv |
Tasks subject to contacts Interaction forces Admittance control Adaptive control Whole-body control Dual quaternion |
topic |
Tasks subject to contacts Interaction forces Admittance control Adaptive control Whole-body control Dual quaternion Engenharia elétrica Quatérnios Robôs - Sistemas de controle |
dc.subject.other.pt_BR.fl_str_mv |
Engenharia elétrica Quatérnios Robôs - Sistemas de controle |
description |
This thesis contributes to the field of manipulation regarding tasks involving contact with the environment, focusing on safety. To this end, a control architecture is proposed where there is an admittance controller in an outer-loop, which changes the reference trajectory to the robot end-effector to achieve a desired compliant behavior, and a motion controller in an inner-loop used to track this trajectory. More specifically, a six-degree-of-freedom task-space admittance controller using dual quaternion logarithmic mapping is developed in order to impose a desired apparent impedance to the robot. The controller couples the translation and rotation impedance in a single mathematical structure, it is designed based on the energy of the system, and the stiffness matrix is built to be consistent with the task geometry. Furthermore, the formulation is free of topological obstruction, and a solution for the unwinding phenomenon based on a switched error function is presented. Regarding the inner-loop, the choice of the motion controller should take into account the type of actuation of the robot (velocity/position or torque) and the availability of the robot model. On the one hand, if the robot is actuated in torque, appropriate pose controllers for physical interactions are usually based on the robot dynamics as it enables more accurate analyses and helps in the synthesis of the robot dynamic behavior. In those controllers, the ill-conditioning of the joint-space inertia matrix plays an important role. Due to this ill-conditioning, small perturbations in the system can produce large changes in the numerical solutions, which may lead to poor performance or even instability, resulting in unsafe interactions. To overcome these problems, this thesis presents a controller in which the joint-space inertia matrix conditioning is adapted online, consequently enhancing the closed-loop performance. On the other hand, if the robot is actuated in velocity/position, a controller based on the robot kinematics is commonly used. Hence, a kinematic controller based on the dual quaternion logarithmic mapping is also developed. The algorithms proposed in this thesis are validated in simulation and/or experimentally on a robot manipulator and an extension of the proposed architecture for the whole-body case, considering a bimanual mobile manipulator, is also evaluated in simulation. Furthermore, statistical analyses are used to compare the performance of these controllers to other ones of the state of the art, and the results show that the developed techniques are at least as good as or outperforms the ones from the literature. |
publishDate |
2021 |
dc.date.accessioned.fl_str_mv |
2021-07-27T18:17:44Z |
dc.date.available.fl_str_mv |
2021-07-27T18:17:44Z |
dc.date.issued.fl_str_mv |
2021-03-01 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/doctoralThesis |
format |
doctoralThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/1843/37025 |
dc.identifier.orcid.pt_BR.fl_str_mv |
https://orcid.org/0000-0003-4083-5355 |
url |
http://hdl.handle.net/1843/37025 https://orcid.org/0000-0003-4083-5355 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
http://creativecommons.org/licenses/by-nc-nd/3.0/pt/ info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
http://creativecommons.org/licenses/by-nc-nd/3.0/pt/ |
eu_rights_str_mv |
openAccess |
dc.publisher.none.fl_str_mv |
Universidade Federal de Minas Gerais |
dc.publisher.program.fl_str_mv |
Programa de Pós-Graduação em Engenharia Elétrica |
dc.publisher.initials.fl_str_mv |
UFMG |
dc.publisher.country.fl_str_mv |
Brasil |
dc.publisher.department.fl_str_mv |
ENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICA ENGENHARIA - ESCOLA DE ENGENHARIA |
publisher.none.fl_str_mv |
Universidade Federal de Minas Gerais |
dc.source.none.fl_str_mv |
reponame:Repositório Institucional da UFMG instname:Universidade Federal de Minas Gerais (UFMG) instacron:UFMG |
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UFMG |
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UFMG |
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Repositório Institucional da UFMG |
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