NDLI: Open loop stable control in repetitive manipulation tasks

Content Provider	IEEE Xplore Digital Library
Author	Plooij, M. Wolfslag, W. Wisse, M.
Copyright Year	2014
Description	Author affiliation: Delft Univ. of Technol., Delft, Netherlands (Plooij, M.; Wolfslag, W.; Wisse, M.)
Abstract	Most conventional robotic arms depend on sensory feedback to perform their tasks. When feedback is inaccurate, slow or otherwise unreliable, robots should behave more like humans: rely on feedforward instead. This paper presents an approach to perform repetitive tasks with robotic arms, without the need for feedback (i.e. the control is open loop). The cyclic motions of the repetitive tasks are analyzed using an approach similar to limit cycle theory. We optimize open loop control signals that result in open loop stable motions. This approach to manipulator control was implemented on a two DOF arm in the horizontal plane with a spring on the first DOF, of which we show simulation and hardware results. The results show that both in simulation and in hardware experiments, it is possible to create open loop stable cycles. However, the two resulting cycles are different due to model inaccuracies. We also show simulation and hardware results for an inverted pendulum, of which we have a more accurate model. These results show stable cycles that are the same in simulation and hardware experiments.
Starting Page	949
Ending Page	956
File Size	2568426
Page Count	8
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6906968
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Friction Hardware Robot sensing systems Torque DC motors
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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