Robotics Passive Control

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005
Passive Control in Robotics Applications (2:15)
Stefano Stramigioli
Control By Port interconnection
Stefano Stramigioli
Argument for interaction
1/29/2013
Semester on Control, Barcelona 2005
and the By means of environment will control we can have its certain achieve a own behavior: robot dynamics
1/29/2013
Extreme cases
Position Control: Robot is isolated
Force Control: Robot is GLUED to a fixed point
1/29/2013
In all other cases

In all other cases depend on BOTH the robot and the environment:
Unique solution for
1/29/2013
Conclusion
For an interactive system We CANNOT control intrinsically INDEPENDENTLY of the environment We CAN control intrinsically the behavior or dynamic relation
Impedance/Admittance Control is MORE than 2nd order dynamics

1/29/2013 Semester on Control, Barcelona 2005 7
IPC (Control by Interconnection)
Stefano Stramigioli
IPC-Supervision Architecture
A good example of a well behaved interacting system is clearly a human, let's compare
1/29/2013
Proposed Controlled Structure
1/29/2013
10
Intrinsically Passive Control
We can design a controller equivalent to a 3D multi-body system interconnected to the robot to be controlled: the controller will be a set of equivalent multibodies, spatial springs, all using ports and Port Controlled Hamiltonian Systems representation!
More general structures are also possible
Example 1 1D impedance control
Stefano Stramigioli
Impedance Control 1D
m F
System Desired Behavior
Note: 1.only position measurement available, 2. saturation F

Solution using interconnection ideas F k

m b k Fc x mc controller
1/29/2013 Semester on Control, Barcelona 2005
kc
k b
mc<<m
kc>>k
14
Example 2 Grasping Control
Stefano Stramigioli
Spatial Springs
If, by means of control, we define a 3D spring using a parameterization like Euler angles, we do not have a geometric description of the spring: no information about the center of compliance, instead:
Morse Theory 4 cells: 1 stable+3 unstable points

Spatial Springs
where
1/29/2013
where
17
Parametric Changes (1D)
1/29/2013
18
Variable Spatial Springs

Length Variation Variation RCC
Body 1
Body 2
It can be shown that varying RCC does 1/29/2013 NOT Semester on Control, Barcelona 2005 exchange energy !!
19
Changing Length
1/29/2013
20
Changing the RCS (no energy supply!)
1/29/2013
21
Example:Proposed Grasp Strategy
Virtual Object
VSS
1/29/2013 Semester on Control, Barcelona Position Virtual Grasp2005 22
Controller Equations
Global, singularity free controller equations in explicit form look like:
1/29/2013
IPC-Supervisor port Semester on Control, Barcelona 2005
23
Controller Structure
The previous equations can be seen to be equivalent to the following scheme
Robot
IPC
1/29/2013
24
If system not back-drivable

Servo Robot
Model Robot
F.sensor Model Robot
IPC
1/29/2013
25
Animation of algorithm
1/29/2013
26
Example 3 Thrusting the Snakeboard
Stefano Stramigioli
The Snakeboard
1/29/2013
28
Real Dynamical System

Used as a test-bench for n.l. control Not-kinematically reducible Analyzed in the context of: Fiber bundles Riemannian manifolds
1/29/2013
29
After some analysis

Reconstruction eqs
Direct control
1/29/2013
30
The power flow interpretation
1/29/2013
31
Control by Interconnection
1/29/2013
32
Simulation of the developed Control Algorithm
1/29/2013
33
The real set up
1/29/2013
34
Example 4 Walking Machines
Stefano Stramigioli
Without field-compensation
1/29/2013
36
Active port correction
1/29/2013
37
With field-compensation
1/29/2013
38
Walking lateral pattern
1/29/2013
39
The first prototype
1/29/2013
40
Remarks Everything which has been presented is in continuous time. In practice we have sampling and we would like to see how to handle passivity then In practice very many physical systems can be represented by a Port-Hamiltonian System If we manage to find a Sampled Representation of a Port Hamiltonian System would be what we need!
Passive Sampling
Stefano Stramigioli
Dirac Structures and Networks

The geometric nature of a power conserving network is a Dirac structure
where In general NOT constant 1/29/2013
43
Power Continuity
1/29/2013
44
Considering a Total System

In general, if is the Hamiltonian corresponding to the internal stored energy, we set , and the power balance becomes:
1/29/2013
45
Discrete Time Port Hamiltonian Systems
Stefano Stramigioli
Discretisation of the Dirac structure

Time discretisation of the Dirac structure results in the same Dirac structure and the following balance:
but now the power is constant for a time T:
1/29/2013
47
State jump
In order to be energetically consistent, the next state should be such that:
We can indicate the set of possible energetically consistent states as

Energy levels
1/29/2013
49
Case
1/29/2013
50
Case
Happens when decreas required close to a minimim increase required close to a maximum
Energy leap
We give out too much energy but
We help the system to recover !

We know EXACTLY how much
51
1/29/2013
Furthermore
After having included the damping term corresponding to explicitly into the equations, we can easily get an expression of the form:
and it should be
1/29/2013
52
Discrete Simulation algorithm

1. Given an initial state , we set . 2. Using the value of the system inputs and the previously calculated , we can calculate
3. x is then used to calculate the next state
Energy Consistent Sampled Passivity
Stefano Stramigioli
Controlled System
1/29/2013
55
Sample Data Passivity

If in the situation sketched before, we define for the interconnection port of
we obtain an equivalence between continuous time and discrete time energy flow in the sense that for each
1/29/2013
56
Remarks
The equivalence just sketched is NOT an approximation, but it is EXACT There is no better integral than phisycs itself: just measure positions We can always have an EXACT measure of energy levels even with INTER SAMPLING BEHAVIOUS !
1/29/2013
57
Discrete-time Scattering and Internet Packages
Stefano Stramigioli
Motivations
Environment Slave-Robot
IPC
Channel
IPC
Master-Robot
Human
1/29/2013
59
Scattering mapping
1/29/2013
60
Scattering representation
Using scattering, the basic result is that

Energy Packages
Finite Energy Package arriving
Since in the discrete time analogous we can consider the system as having the port variables frozen between one sample time and the next, we obtain:
Finite Energy Package leaving
1/29/2013
62
Passivity and Time delay

By construction the total energy is conserved: Energy Master Energy Slave Energy packages traveling on the line Varying time delays can be handled by queues and we suppose master and slave sampling identical
Loss of packages represents dissipation

Tele-grasping
Global, singularity free controller equations in explicit form look like:
1/29/2013
IPC-Supervisor port Semester on Control, Barcelona 2005
64
Scattering of the ports

We can consider (geometric) scattering representation of the port and transmit the infrmation with time delays preserving passivity!!!
1/29/2013
65
Conclusion
Stefano Stramigioli
Conclusions
Ports allow to interconnect elements keeping track of energy Any physical element of interest can be put in the port-Hamiltonian framework Grasping Strategy Not only for Tip grasps ! Energy Springs is a measure of Energy Grasp Intuitive to understand
Conclusions
Muscles are postural controlled viscous-elastic elements No contacts to no-contacts transitions Tele-manipulation Easily extendable to spatial tele-manipulation (Tra. R&A) Novel discretization algorithms available. Port Control necessary in n.l. compliant structures (Vassuras hand) 20-sim can generate ready to use code for a modeled system.

Robotics Passive Control

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Robotics Passive Control

Uploaded by

Copyright:

Available Formats

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Passive Control in Robotics Applications (2:15)

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Control By Port interconnection

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Argument for interaction

Semester on Control, Barcelona 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Semester on Control, Barcelona 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Force Control: Robot is GLUED to a fixed point

Semester on Control, Barcelona 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

In all other cases

Unique solution for

Semester on Control, Barcelona 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Impedance/Admittance Control is MORE than 2nd order dynamics

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

IPC (Control by Interconnection)

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Semester on Control, Barcelona 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Proposed Controlled Structure

Semester on Control, Barcelona 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Intrinsically Passive Control

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Example 1 1D impedance control

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

System Desired Behavior

Note: 1.only position measurement available, 2. saturation F

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Solution using interconnection ideas F k

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Example 2 Grasping Control

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Morse Theory 4 cells: 1 stable+3 unstable points

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Semester on Control, Barcelona 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Parametric Changes (1D)

Semester on Control, Barcelona 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Variable Spatial Springs

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Semester on Control, Barcelona 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Changing the RCS (no energy supply!)

Semester on Control, Barcelona 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Example:Proposed Grasp Strategy

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

IPC-Supervisor port Semester on Control, Barcelona 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Semester on Control, Barcelona 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

If system not back-drivable

F.sensor Model Robot

Semester on Control, Barcelona 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Semester on Control, Barcelona 2005