Title :
MLD modeling and optimal control of hand manipulation
Author :
Yin, Yingjie ; Hosoe, Shigeyuki
Author_Institution :
Biomimetic Control Res. Center, RIKEN, Nagoya, Japan
Abstract :
In this paper, by taking a multi-contact planar manipulation system as an example, we propose a modeling and control approach based on hybrid system theory, whereby a dexterous manipulation task is formulated as a mixed logic dynamical (MLD) model. A model predictive control (MPC) is used to handling the control objectives of MLD system, which can be solved using powerful mixed integer quadric programming (MIQP) algorithm. The validation of the proposed approach is shown by simulation.
Keywords :
control system synthesis; dexterous manipulators; integer programming; manipulator dynamics; optimal control; predictive control; quadratic programming; dexterous manipulation; hand manipulation; hybrid system theory; mixed integer quadric programming; mixed logic dynamical model; model predictive control; multicontact planar manipulation system; optimal control; Control systems; Fingers; Logic programming; Manipulator dynamics; Motion control; Optimal control; Power system modeling; Predictive control; Predictive models; Robots; MLD modeling; Model Predictive Control; multi-contact hand manipulation;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545583
