ferrolho-RAS2021.pdf (1.92 MB)
Residual force polytope: admissible task-space forces of dynamic trajectories
journal contribution
posted on 2023-06-10, 01:33 authored by Henrique Ferrolho, Wolfgang Merkt, Carlo TiseoCarlo Tiseo, Sethu VijayakumarWe propose a representation for the set of forces a robot can counteract using full system dynamics: the residual force polytope. Given the nominal torques required by a dynamic motion, this representation models the forces which can be sustained without interfering with that motion. The residual force polytope can be used to analyze and compare the set of admissible forces of different trajectories, but it can also be used to define metrics for solving optimization problems, such as in trajectory optimization or system design. We demonstrate how such a metric can be applied to trajectory optimization and compare it against other objective functions typically used. Our results show that the trajectories computed by optimizing objectives defined as functions of the residual force polytope are more robust to unknown external disturbances. The computational cost of these metrics is relatively high and not compatible with the short planning times required by online methods, but they are acceptable for planning motions offline.
History
Publication status
- Published
File Version
- Accepted version
Journal
Robotics and Autonomous SystemsISSN
0921-8890Publisher
ElsevierExternal DOI
Volume
142Article number
a103814Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2021-10-28First Open Access (FOA) Date
2022-05-25First Compliant Deposit (FCD) Date
2021-10-28Usage metrics
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