Continuous control law from unilateral constraints

The control approaches based on tasks, and particularly based on a hierarchy of tasks, enable to build complex behaviors with some nice properties of robustness and portability. However it is difficult to consider directly unilateral constraints in such a framework. Unilateral constraints presents some strong irregularities (in particular at the level of their derivative) that prevents the insertion of unilateral-based tasks at the high-priority level of a hierarchy. In this paper, we present an original method to generalize the hierarchy-based control schemes to take unilateral constraint into account at the top-priority level. We develop our method first at the kinematic level then directly at the dynamic level using the operational space. The method is then validated on a various set of robots by realizing a visual servoing under the constraint of joint limits.

[1]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[2]  François Chaumette,et al.  Image moments: generic descriptors for decoupled image-based visual servo , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[3]  Claude Samson,et al.  Robot Control: The Task Function Approach , 1991 .

[4]  Olivier Stasse,et al.  Visually-Guided Grasping while Walking on a Humanoid Robot , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[5]  Nicolas Mansard,et al.  Continuity of Varying-Feature-Set Control Laws , 2009, IEEE Transactions on Automatic Control.

[6]  A. Liegeois,et al.  Automatic supervisory control of the configuration and behavior of multi-body mechanisms , 1977 .

[7]  Éric Marchand,et al.  Statistically robust 2-D visual servoing , 2006, IEEE Transactions on Robotics.

[8]  Oussama Khatib,et al.  Control Strategies for Robots in Contact , 2006 .

[9]  Oussama Khatib,et al.  Synthesis and control of whole-body behaviors in humanoid systems , 2007 .

[10]  Chien Chern Cheah,et al.  Region Reaching Control of Robots: Theory and Experiments , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[11]  Mark Dunn,et al.  Visually Guided Whole Body Interaction , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[12]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.

[13]  Jean-Jacques E. Slotine,et al.  A general framework for managing multiple tasks in highly redundant robotic systems , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[14]  K. Tanie,et al.  A switching command-based whole-body operation method for humanoid robots , 2005, IEEE/ASME Transactions on Mechatronics.

[15]  Oussama Khatib,et al.  A whole-body control framework for humanoids operating in human environments , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[16]  Ronan Boulic,et al.  An inverse kinematics architecture enforcing an arbitrary number of strict priority levels , 2004, The Visual Computer.

[17]  Patrick Rives,et al.  A new approach to visual servoing in robotics , 1992, IEEE Trans. Robotics Autom..

[18]  Nicolás García Aracil,et al.  Continuous visual servoing despite the changes of visibility in image features , 2005, IEEE Transactions on Robotics.

[19]  Adi Ben-Israel,et al.  Generalized inverses: theory and applications , 1974 .

[20]  N. Mansard,et al.  A Qualitative visual servoing: Application to the visibility constraint , 2006 .

[21]  Peter I. Corke,et al.  A tutorial on visual servo control , 1996, IEEE Trans. Robotics Autom..