Towards a Generic Manipulation Framework for Robots based on Model Predictive Interaction Control

Gold T, Lomakin A, Goller T, Völz A, Graichen K (2020)

Publication Language: English

Publication Type: Conference contribution, Conference Contribution

Publication year: 2020

Pages Range: 401 - 407

Event location: Beijing CN

DOI: 10.1109/icma49215.2020.9233628

Abstract

This paper presents an optimization-based control framework for robotic manipulation tasks. A hierarchical and systematic decomposition is used in order to formulate the high-level task as a sequence of manipulation primitives. A key difficulty is that different primitives usually require different strategies to control motions and forces. However, based on the concept of model predictive interaction control (MPIC), it is possible to use the same control approach for all primitives. Instead of changing the controller, only the parameterization of the MPIC, i.e. the cost function and the constraints, is adapted for each primitive. The hierarchical task decomposition and the generic control concept are demonstrated for a screwing application using a robot arm with seven degrees of freedom.

Authors with CRIS profile

Tobias Gold Chair of Automatic Control Alexander Lomakin Chair of Automatic Control Tim Goller Chair of Automatic Control Andreas Völz Chair of Automatic Control Knut Graichen Chair of Automatic Control

How to cite

APA:

Gold, T., Lomakin, A., Goller, T., Völz, A., & Graichen, K. (2020). Towards a Generic Manipulation Framework for Robots based on Model Predictive Interaction Control. In Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA) (pp. 401 - 407). Beijing, CN.

MLA:

Gold, Tobias, et al. "Towards a Generic Manipulation Framework for Robots based on Model Predictive Interaction Control." Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA), Beijing 2020. 401 - 407.

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