Research Papers

A Hybrid Robust Lyapunov Controller for Dynamic Catch, Grasp and Carry Maneuvers

[+] Author and Article Information
Kerim Yunt

General Control Design Inc.,
am Holbrig 4,
Zürich 8049, Switzerland
e-mail: kerimyunt@web.de

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 7, 2014; final manuscript received March 23, 2015; published online May 26, 2015. Assoc. Editor: Jingang Yi.

J. Dyn. Sys., Meas., Control 137(8), 081012 (Aug 01, 2015) (11 pages) Paper No: DS-14-1404; doi: 10.1115/1.4030285 History: Received October 07, 2014; Revised March 23, 2015; Online May 26, 2015

A hybrid Lyapunov based controller for dynamic catch, grasp, and carry tasks of grippers is developed. The Lyapunov controller unifies the trajectory planning and tracking tasks in one, and neither a separate trajectory planning algorithm is needed to run offline nor any type of learning process. The robustness of the controller is demonstrated, through simulations with inertial parametric uncertainties. The concept is presented with the simulations of six degrees-of-freedom (DOF) double revolute (RR) planar manipulator with a 4DOF gripper and a 8DOF triple revolute (RRR) manipulator with a 5DOF gripper.

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Fig. 1

The configuration of the 6DOF gripper

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Fig. 2

Workspace of the 6DOF planar gripper

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Fig. 3

Spatial rigid body contact between two rigid bodies

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Fig. 4

Contact forces and contact surfaces

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Fig. 5

Workspace of the 8DOF gripper

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Fig. 6

The configuration of the 8DOF manipulator

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Fig. 7

Finite state machine of the 6DOF gripper

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Fig. 8

Maneuver A: tasks one and two

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Fig. 9

Maneuver A: task three

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Fig. 10

Maneuver A: the control input history

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Fig. 11

Maneuver A: the change of Φ with the distance

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Fig. 12

Maneuver A: the Lyapunov function over all trajectories

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Fig. 13

Maneuver A: the normal contact forces

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Fig. 14

Maneuver A: the relative contact distances

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Fig. 15

Maneuver B: the control input history

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Fig. 16

Maneuver B: tasks one and two

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Fig. 17

Maneuver B: task three

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Fig. 18

Maneuver B: the change of Φ with the distance to the target

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Fig. 19

Maneuver C: tasks one and two

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Fig. 20

Maneuver C: task three

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Fig. 21

Maneuver C: phase plots of the maneuver in T3




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