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Pré-Publication, Document De Travail (Preprint/Prepublication) Année : 2024

Model predictive control under hard collision avoidance constraint for a robotic arm

Résumé

We design a method to control the motion of a manipulator robot while strictly enforcing collision avoidance in a dynamic obstacle field. We rely on model predictive control while formulating collision avoidance as a hard constraint. We express the constraint as the requirement for a signed distance function to be positive between pairs of strictly convex objects. Among various formulations, we provide a suitable definition for this signed distance and for the analytical derivatives needed by the numerical solver to enforce the constraint. The method is completely implemented on a manipulator "Panda" robot, and the efficient open-source implementation is provided along with the paper. We experimentally demonstrate the efficiency of our approach by performing dynamic tasks in an obstacle field while reacting to non-modeled perturbations.
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Dates et versions

hal-04425002 , version 1 (29-01-2024)

Identifiants

  • HAL Id : hal-04425002 , version 1

Citer

Arthur Haffemayer, Armand Jordana, Médéric Fourmy, Krzysztof Wojciechowski, Florent Lamiraux, et al.. Model predictive control under hard collision avoidance constraint for a robotic arm. 2024. ⟨hal-04425002⟩
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