Next Article in Journal / Special Issue
Design of a Lockable Spherical Joint for a Reconfigurable 3-URU Parallel Platform
Previous Article in Journal
Robust Interval Type-2 Fuzzy Sliding Mode Control Design for Robot Manipulators
Previous Article in Special Issue
Fully Mechatronical Design of an HIL System for Floating Devices
Article Menu

Export Article

Open AccessArticle
Robotics 2018, 7(3), 41; https://doi.org/10.3390/robotics7030041

Viability and Feasibility of Constrained Kinematic Control of Manipulators

1
Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Via Branze 38, 25123 Brescia, Italy
2
Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato, National Research Council, Via Alfonso Corti 12, 20133 Milano, Italy
*
Author to whom correspondence should be addressed.
Received: 13 June 2018 / Revised: 20 July 2018 / Accepted: 20 July 2018 / Published: 23 July 2018
(This article belongs to the Special Issue Kinematics and Robot Design)
View Full-Text   |   Download PDF [2553 KB, uploaded 23 July 2018]   |  

Abstract

Recent advances in planning and control of robot manipulators make an increasing use of optimization-based techniques, such as model predictive control. In this framework, ensuring the feasibility of the online optimal control problem is a key issue. In the case of manipulators with bounded joint positions, velocities, and accelerations, feasibility can be guaranteed by limiting the set of admissible velocities and positions to a viable set. However, this results in the imposition of nonlinear optimization constraints. In this paper, we analyze the feasibility of the optimal control problem and we propose a method to construct a viable convex polyhedral that ensures feasibility of the optimal control problem by means of a given number of linear constraints. Experimental and numerical results on an industrial manipulator show the validity of the proposed approach. View Full-Text
Keywords: manipulators; trajectory planning; kinematic constraints; optimization; viability; inverse kinematics manipulators; trajectory planning; kinematic constraints; optimization; viability; inverse kinematics
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Faroni, M.; Beschi, M.; Pedrocchi, N.; Visioli, A. Viability and Feasibility of Constrained Kinematic Control of Manipulators. Robotics 2018, 7, 41.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Robotics EISSN 2218-6581 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top