Table 1 Summary of control challenges and corresponding constraints that allow to handle them
From: Optimized user-guided motion control of modular robots
Problem | Constraint type | Parameters | Full expression |
|---|---|---|---|
Robot joints and links are subject to stress due to motion limits being exceeded | Joint motion constraint (position, velocity/damper, acceleration, jerk) | I | Eq. (4) |
Robot motors are damaged due to effort limits being exceeded | Joint effort constraints (torque/damper, rotatum) | M(q), JT | Eq. (5) |
Robot collides with itself, or other objects within its environment | Collision avoidance (self-collision, static or moving object collision) | \({{{{\bf{n}}}}}^{T}({{{{\bf{J}}}}}_{{p}_{2}}-{{{{\bf{J}}}}}_{{p}_{1}})\ddot{{{{\bf{q}}}}}-{{{{{\bf{n}}}}}^{e}}^{T}{{{{\bf{J}}}}}_{{p}_{x}}\) | |
Non-fixed based robot loses balance and falls | Center of mass constraints | \(-{{{{\bf{n}}}}}_{p}^{T}{{{{\bf{J}}}}}^{{{{\rm{CoM}}}}}\) | Eq. (8) |
Not possible to operate s non pre-set configuration robot, add/remove contacts | Fixed contact constraints | \(({{{{\bf{J}}}}}_{{b}_{x}}^{{r}_{1}}-{{{{\bf{J}}}}}_{{b}_{y}}^{{r}_{2}})\) | Eq. (9) |
Robot connectors break under excessive force | Contact force constraints | I | Eq. (10) |
