Modern robotic systems must be able to react to unexpected environmental events. To this purpose, planning techniques for the real-time generation/modification of trajectories have been developed in recent times. In the frequent case of applications which require following a predefined path, the assigned time-law must be inspected in real time so as to verify whether it satisfies the system constraints or, conversely, if it must be scaled in order to obtain a feasible trajectory. The problem has been addressed in several ways in the literature. One of the known approaches, based on the use of nonlinear filters, is revised in this paper in order to return feasible solutions under any circumstances. Differently from alternative strategies, it manages constraints up to the torque derivatives and has evaluation times compatible with the ones required by modern control systems. The proposed technique is validated through simulations and real experiments. Comparisons are proposed with an algorithm based on a model predictive technique and with an alternative scaling system.

A Predictive Technique for the Real-Time Trajectory Scaling under High-Order Constraints / GUARINO LO BIANCO, Corrado; Faroni, Marco; Beschi, Manuel; Visioli, Antonio. - In: IEEE/ASME TRANSACTIONS ON MECHATRONICS. - ISSN 1083-4435. - 27:1(2022), pp. 315-326. [10.1109/TMECH.2021.3063627]

A Predictive Technique for the Real-Time Trajectory Scaling under High-Order Constraints

Corrado Guarino Lo Bianco
;
Antonio Visioli
2022-01-01

Abstract

Modern robotic systems must be able to react to unexpected environmental events. To this purpose, planning techniques for the real-time generation/modification of trajectories have been developed in recent times. In the frequent case of applications which require following a predefined path, the assigned time-law must be inspected in real time so as to verify whether it satisfies the system constraints or, conversely, if it must be scaled in order to obtain a feasible trajectory. The problem has been addressed in several ways in the literature. One of the known approaches, based on the use of nonlinear filters, is revised in this paper in order to return feasible solutions under any circumstances. Differently from alternative strategies, it manages constraints up to the torque derivatives and has evaluation times compatible with the ones required by modern control systems. The proposed technique is validated through simulations and real experiments. Comparisons are proposed with an algorithm based on a model predictive technique and with an alternative scaling system.
2022
A Predictive Technique for the Real-Time Trajectory Scaling under High-Order Constraints / GUARINO LO BIANCO, Corrado; Faroni, Marco; Beschi, Manuel; Visioli, Antonio. - In: IEEE/ASME TRANSACTIONS ON MECHATRONICS. - ISSN 1083-4435. - 27:1(2022), pp. 315-326. [10.1109/TMECH.2021.3063627]
File in questo prodotto:
File Dimensione Formato  
09369148.pdf

accesso aperto

Tipologia: Documento in Post-print
Licenza: Creative commons
Dimensione 4.86 MB
Formato Adobe PDF
4.86 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11381/2890624
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 5
  • ???jsp.display-item.citation.isi??? 5
social impact