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Robot motion controln need to “actually” realize a desired robot motion task …
n regulation of pose/configuration (constant reference)n trajectory following/tracking (time-varying reference)
n ... despite the presence ofn external disturbances and/or unmodeled dynamic effectsn initial errors (or arising later due to disturbances) w.r.t. desired taskn discrete-time implementation, uncertain robot parameters, ...
n we use a general control scheme based onn feedback (from robot state measures, to impose asymptotic stability) n feedforward (nominal commands generated in the planning phase)
n the error driving the feedback part of the control law can be defined either in Cartesian or in joint spacen control action always occurs at the joint level (where actuators drive
the robot), but performance has to be evaluated at the task levelRobotics 1 2
Kinematic control of robots
n a robot is an electro-mechanical system driven by actuating torques produced by the motors
n it is possible, however, to consider a kinematic command (most often, a velocity) as control input to the system...
n ...thanks to the presence of low-level feedback control at the robot joints that allow imposing commanded reference velocities (at least, in the “ideal case”)
n these feedback loops are present in industrial robots within a “closed” control architecture, where users can only specify reference commands of the kinematic type
n in this way, performance can be very satisfactory, provided the desired motion is not too fast and/or does not require large accelerations
Robotics 1 3
An introductory example
n a mass M in linear motion: M x = Fn low-level feedback: F = K(u – x), with u = reference velocityn equivalent scheme for K→∞: x ≈ un in practice, valid in a limited frequency “bandwidth” w ≤ K/M
..
..
1/M ∫ ∫F xx x
.. .
∫u x
Ku +
-
≈
Robotics 1 4
Frequency responseof the closed-loop system
n Bode diagrams of sx(s)/u(s) for K/M = 0.1, 1, 10, 100
xu
.
actualvelocity
commandedreferencevelocity
- 3dB
Robotics 1 5
frequency (rad/s)
phas
e (d
eg)
mag
nitu
de (d
B)
Time responsen setting K/M = 10 (bandwidth), we show two possible time responses
to unit sinusoidal velocity reference commands at different w0.61
w = 2 rad/s w = 20 rad/sactually realized velocities
Robotics 1 6
-7.5 dB attenuation
A more detailed exampleincluding nonlinear dynamics
n single link (a thin rod) of mass m, center of mass at d from joint axis, inertia 𝑀 (motor + link) at the joint, rotating in a vertical plane (the gravity torque at the joint is configuration dependent)
Robotics 1 7
𝑀
n fast low-level feedback control loop based on a PI action on the velocity error + an approximate acceleration feedforward
n kinematic control loop based on a P feedback action on the position error + feedforward of the velocity reference at the joint level
n evaluation of tracking performance for rest-to-rest motion tasks with “increasing dynamics” = higher accelerations
q
mg0
dIm
Il
tdynamic model
𝐼# + 𝐼% + 𝑚𝑑( �̈� + 𝑚𝑔,𝑑 sin 𝑞 = 𝜏
𝑔2 = 9.81 ⁄𝑚 𝑠(𝑚 = 10 𝑘𝑔𝑑 = ⁄𝑙 2 = 0.2 𝑚𝐼% = ⁄𝑚𝑙( 12 = 0.1333 𝑘𝑔𝑚(
𝐼# = 0.5333 𝑘𝑔𝑚(
= 𝐼% + 𝑚𝑑(⟹ 𝑀 = 1.0667[𝑘𝑔𝑚(]
A more detailed exampledifferences between the ideal and real case
n Simulink scheme
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trajectory generation(a cubic position profile)
real behavior
ideal behavior
A more detailed examplerobot with low-level control
n Simulink scheme
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low-level control =PI velocity feeedback loop+ acceleration feedforward
actuatorsaturation at 100 [Nm]
robotdynamics
𝑀�̈� + 𝑚𝑔,𝑑 sin 𝑞 = 𝜏
�̈� =1𝑀 (𝜏 − 𝑚𝑔,𝑑 sin 𝑞)
�̇�𝜏
Simulation resultsrest-to-rest motion from downward to horizontal position
n in T = 1 s
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n in T = 0.25 s
position trackingposition error
very goodtracking of
reference trajectory(a cubic polynomial)
max error≈ 0.2°
n in T = 0.5 s
badtracking ofreferencetrajectory
max error≈ 5.5°
Simulation resultsrest-to-rest motion from downward to horizontal position
n in T = 1 s
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n in T = 0.25 s
saturation!
high-level velocity comm
andlow-level torque com
mand
similar tothe profile of
referencevelocity!
n in T = 0.5 s
similar to referenceacceleration profile!
torque for staticbalance of gravity(provided by theintegral term)
“dominated” bygravity torque evolution
Simulation resultsrest-to-rest motion from downward to horizontal position
n in T = 1 s n in T = 0.5 s n in T = 0.25 s
real position errors increase when reducing too much motion time(⇒ too high accelerations)
max error≈ 0.2°
max error≈ 5.5°
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while ideal position errors(based only on kinematics)remain always the same!!
here ≡ 0, thanks to the initial matchingbetween robot and reference trajectory
… seen as a simple integrator
Control loops in industrial robots
n analog loop of large bandwidth on motor current (∝ torque)n analog loop on velocity (Gvel(s), typically a PI)n digital feedback loop on position, with velocity feedforwardn this scheme is local to each joint (decentralized control)
robot(joint i)actuator
qP, PI,or PID
qd(t)
qd(t).
+ ++
+-
Gvel(s)
q.
-
digital part analog part
Robotics 1 13
Kinematic control of joint motion
óõ K +-
+ +pd.
qd. qd
J-1(qd)óõ
q.
q
reference generator(off-line computation of J-1)
feedback from qK > 0 (oftendiagonal)
q(0)qd(0)
robotmodel
enot used
e = qd - q e = qd - q = qd - (qd + K(qd - q)) = - K eei ® 0 (i=1,…,n)
exponentially,"e(0)
. . . . .
ep = pd - p = J(qd)qd - J(q)(qd + K(qd - q))ep = pd - p
q ® qd
ep ® J(q)eep ≈ - J(q)K J-1(q) ep.
. . . ..
Robotics 1 14
robotmodel
Kinematic control of Cartesian motion
óõ Kp +-
+ +pd. pd ó
õq.
q p
referencegenerator
feedback from pKp >0 (often diagonal)
pd(0)
J-1(q) f(q)
q(0)
• ep,i ® 0 (i=1,…,m) exponentially, "ep(0)• needs on-line computation of the inverse(*) J-1(q) • real-time + singularities issues
ep
Robotics 1 15
ep = pd - p ep = pd - p = pd - J(q) J-1(q) (pd + Kp(pd - p)) = - Kp ep. . . . .
(*) or pseudoinverse if m<n
Simulationfeatures of kinematic control laws
Simulink© block diagram
desired referencetrajectory:two types of tasks1. straight line 2. circular path
both withconstant speed
robot:planar 2Rlengths l1=l2=1
numericalintegration method:fixed stepRunge-Kuttaat 1 msec
Robotics 1 16
Simulink blocks
calls to Matlab functionsk(q)=dirkin (user)J(q)=jac (user)
J-1(q)=inv(jac) (library)
• a saturation (for task 1.)or a sample and hold (for task 2.)added on joint velocity commands
• system initialization of kinematicsdata, desired trajectory, initial state, and control parameters (in init.m file)
never put “numbers” inside the blocks !Robotics 1 17
Simulation data for task 1
n straight line path with constant velocity n xd(0) = 0.7 m, yd(0) = 0.3 m; vy,d = 0.5 m/s, for T = 2 s
n large initial error on end-effector positionn q(0) = [-45o 90o ]T ⇒ ep(0) = [-0.7 0.3]T m
n control gainsn K = diag{20,20}
n (a) without joint velocity command saturationn (b) with saturation ...
n vmax,1 = 120o/s, vmax,2 = 90o/s
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Results for task 1astraight line: initial error, no saturation
path executed by the robot end-effector
(actual and desired)
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stroboscopic view of motion(start and end configurations)
initialtransientphase
(about 0.2 s)
trajectoryfollowing
phase(about 1.8 s)
p(0)pd(0)
Results for task 1a (cont)straight line: initial error, no saturation
px, py actual and desired control inputs qr1, qr2. .
Robotics 1 21
errors converge independentlyand exponentially to 0
Results for task 1bstraight line: initial error, with saturation
path executed by the robot end-effector
(actual and desired)
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initialtransientphase
(about 0.5 s)
trajectoryfollowing
phase(about 1.5 s)
p(0)pd(0)
stroboscopic view of motion(start and end configurations)
Results for task 1b (cont)straight line: initial error, with saturation
px, py actual and desired control inputs qr1, qr2(saturated at ± vmax,1, ± vmax,2)
. .
Robotics 1 23
errors eventually convergeonce out of saturation!
Simulation data for task 2
n circular path with constant velocity n centered at (1.014,0) with radius R = 0.4 m; n v = 2 m/s, performing two rounds ⇒ T ≈ 2.5 s
n zero initial error on Cartesian position (“match”)n q(0) = [-45o 90o ]T⇒ ep(0) = 0
n (a) ideal continuous case (1 kHz), even without feedbackn (b) with sample and hold (ZOH) of Thold = 0.02 s (joint
velocity command updated at 50 Hz), but without feedbackn (c) as before, but with Cartesian feedback using the gains
n K = diag{25,25}
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Results for task 2acircular path: no initial error, continuous control (ideal case)
px, py actual and desired control inputs qr1, qr2. .
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joint variables q1, q2
final configuration(after two rounds)
coincides withinitial configuration
zero trackingerror is keptat all times
Results for task 2bcircular path: no initial error, ZOH at 50 Hz, no feedback
px, py actual and desired control inputs qr1, qr2. .
Robotics 1 26
joint variables q1, q2
a drift occursalong the path
due to the“linearization
error” along the path tangent
final configuration(after two rounds)
differs frominitial configuration
Results for task 2ccircular path: no initial error, ZOH at 50 Hz, with feedback
px, py actual and desired control inputs qr1, qr2. .
Robotics 1 27
joint variables q1, q2
(almost) the sameperformance ofthe continuous
case is recovered!!
note however thatlarger P gains willeventually lead to unstable behavior
(see: stability problems for discrete-time
control systems)
3D simulation
kinematic control of Cartesian motion of Fanuc 6R (Arc Mate S-5) robotsimulation and visualization in Matlab
video
Robotics 1 28