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Mathematics > Optimization and Control

arXiv:2108.01984 (math)
[Submitted on 4 Aug 2021]

Title:Geometric Control of a Robot's Tool

Authors:Anis Bousclet, Mohamed Camil Belhadjoudja
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Abstract:The goal of this paper is to present a rigorous and intrinsic formulation of a Riemannian PD-regulator of the robot's tool, The first one is based upon the Lasalle's invariance principle, we use it to control the tool's position in the workspace under the assumption of absence of singularities in configuration space, The second method deals with geometrical constraints on the trajectory of the robot's tool with the same assumption, we construct a unique orthogonal force that is viewed as a gravitational force that keeps the tool constrained, We also present a variation of the first method in the case of double pendulum based on the Lyapunov stability theorem. With this modification, we control the tool and the difference between the two angles, we did simulations on a two-link manipulator that shows the efficiency of the presented methods.
Subjects: Optimization and Control (math.OC)
Cite as: arXiv:2108.01984 [math.OC]
  (or arXiv:2108.01984v1 [math.OC] for this version)
  https://doi.org/10.48550/arXiv.2108.01984

Submission history

From: Mohamed Camil Belhadjoudja [view email]
[v1] Wed, 4 Aug 2021 11:50:04 UTC (2,477 KB)
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