Hybrid Robot Control

Contact

Dipl.-Ing. Argtim Tika
Gottlieb-Daimler-Str. 42
67663, Kaiserslautern
Phone: +49 (0)631/205-5093
Fax: +49 (0)631/205-4201
argtim.tika(at)mv.uni-kl.de

Funding

Bundesministerium fur
Wirtschaft und Energie


Mixed-integer online task and trajectory planning

  • Monolithic integration of both planning layers into a single planning layer
  • Iterative inherent robot task and trajectory planning
  • Mixed-integer optimization

Multistep Hybrid Controller

  • Mixed-integer nonlinear programming  (MINLP) problem for inherent task and trajectory planning
  • Convex relaxation using auxiliary variables
  • Mixed-integer quadratically constrained programming (MIQCP) problem suitable for online applications
     

Experimental Results

Two Use Cases to demonstrate the performance of the proposed control structures:

  • Hierarchic control structure
    • Minimum-distance scheduling
    • Minimum-time scheduling
    • Minimum-time trajectory planning
  • Hybrid control Structure
    • Minimum-time task and trajectory planning

Dynamic Parameter Estimation

  • With the dynamic, friction and inertia parameters the dynamic model of a robot manipulator can be written as
  • Eliminating the parameters with no effect on the dynamic model and regrouping some parameters yields the regression equation
  • The regression equation is solved using optimized trajectories and global optimization techniques