ATTRACTOR-BASED WHOLE-BODY MOTION CONTROL (WBMC) SYSTEM FOR AN ARTICULATED ROBOT

摘要

A Model-Based, Whole-Body Motion-Control (WBMC) system for an articulated robot required to perform simultaneous tasks which are not prioritized a priori and which may also be competing, the system comprising is described, the system comprising : • one or more attractors (MinEff, MomJ, MomCOM, JLim, EEff ), each of which is an operationally independent closed-loop, model-based torque/ force-control module associated with a corresponding robot's controlled task, and is designed to receive a quantity computed based on one or more quantities ( q, q ) representing the state of the robot, and to output robot's joint torques (T_GC,T_ME, T_MJ, T_LMC, T_AMC, T_JL, T_EE ) which are to be applied to robot's active joints to attract the robot's current state to a robot's target state; and • a torque and/or linear force command generator designed to receive the robot's joint torques and/or linear forces from the one or more attractors and to generate a torque and/or linear force command for the robot based on the received robot's joint torques to cause the robot's current state to converge to the robot's target state.