Set-point Control for a Ground-based Reconfigurable Robot

Research output: Contribution to conferencePaperpeer-review

260 Downloads (Pure)

Abstract

Reconfigurable mobile robots are well suited for inspection tasks in legacy nuclear facilities where access is restricted and the environment is often cluttered. A reconfigurable snake robot, MIRRAX, has previously been developed to investigate such facilities. The joints used for the robot's reconfiguration introduce additional constraints on the robot's control, such as balance, on top of the existing actuator and collision constraints. This paper presents a set-point controller for MIRRAX using vector-field inequalities to enforce hard constraints on the robot's balance, actuator limits, and collision avoidance in a single quadratic programming formulation. The controller has been evaluated in simulation and early experiments in some scenarios. The results show that the controller generates feasible control inputs that enable the robot to retain its balance while moving with less oscillation and operating within the actuation and collision constraints.
Original languageEnglish
Pages2616-2621
Number of pages6
DOIs
Publication statusPublished - 2022
EventIEEE/RJS IROS 2022 - Japan, Kyoto, Japan
Duration: 23 Oct 202227 Oct 2022
https://iros2022.org/

Conference

ConferenceIEEE/RJS IROS 2022
Country/TerritoryJapan
CityKyoto
Period23/10/2227/10/22
Internet address

Fingerprint

Dive into the research topics of 'Set-point Control for a Ground-based Reconfigurable Robot'. Together they form a unique fingerprint.

Cite this