Spline Path Following for Redundant Mechanical Systems

TL;DR

This paper introduces a spline-based path following control method for redundant mechanical systems, utilizing constrained optimization and partial feedback linearization, validated experimentally on a 4-DOF manipulator with uncertainties.

Contribution

It presents a novel control design for path following on spline-defined curves, handling redundancies and self-intersecting paths with experimental validation.

Findings

Effective path following on complex spline curves.

Robust control performance despite model uncertainties.

Successful experimental validation on a 4-DOF manipulator.

Abstract

Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves generated by splines in the workspace of kinematically redundant mechanical systems. The class of admissible paths includes self-intersecting curves. Kinematic redundancies are resolved by designing controllers that solve a suitably defined constrained quadratic optimization problem. By employing partial feedback linearization, the proposed path following controllers have a clear physical meaning. The approach is experimentally verified on a 4-degree-of-freedom (4-DOF) manipulator with a combination of revolute and linear actuated links and significant model uncertainty.