Geometric Slosh-Free Tracking for Robotic Manipulators

Jon Arrizabalaga, Lukas Pries, Riddhiman Laha, Runkang Li, Sami Haddadin, Markus Ryll

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This work focuses on the agile transportation of liquids with robotic manipulators. In contrast to existing methods that are either computationally heavy, system/container specific or dependant on a singularity-prone pendulum model, we present a real-time slosh-free tracking technique. This method solely requires the reference trajectory and the robot's kinematic constraints to output kinematically feasible joint space commands. The crucial element underlying this approach consists on mimicking the end-effector's motion through a virtual quadrotor, which is inherently slosh-free and differentially flat, thereby allowing us to calculate a slosh-free reference orientation. Through the utilization of a cascaded proportional-derivative (PD) controller, this slosh-free reference is transformed into task space acceleration commands, which, following the resolution of a Quadratic Program (QP) based on Resolved Acceleration Control (RAC), are translated into a feasible joint configuration. The validity of the proposed approach is demonstrated by simulated and real-world experiments on a 7 DoF Franka Emika Panda robot.

Original languageEnglish
Title of host publication2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1226-1232
Number of pages7
ISBN (Electronic)9798350384574
DOIs
StatePublished - 2024
Event2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan
Duration: 13 May 202417 May 2024

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Country/TerritoryJapan
CityYokohama
Period13/05/2417/05/24

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