A Geometric Approach to Decouple Robotino Motions and its Functional Controllability

12th European Workshop on Advanced Control and Diagnosis

Straßberger, Daniel^1 ; Mercorelli, Paolo^1 ; Sergiyenko, Oleg^2

Institute of Product and Process Innovation, Leuphana University of Lueneburg, Volgershall 1, Lueneburg

D-21339, Germany^1

Engineering Institute of Autonomous University of Baja California, Blvd. Benito Juarez y Calle de La Normal, s/n, Mexicali, BC

C.P.21280, Mexico^2

关键词: Continuous functions;    Control simulation;    Control strategies;    Decoupling control strategy;    Functional control;    Geometric approaches;    Motion trajectories;    Standard algorithms;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/659/1/012027/pdf
DOI  :  10.1088/1742-6596/659/1/012027

来源: IOP

【 摘 要 】

This paper analyses a functional control of the Robotino. The proposed control strategy considers a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. For a given control structure the functional controllability is proven for motion trajectories of class C3, continuous functions with third derivative also being continuous. Horizontal, Vertical and Angular motions are considered and the decoupling between these motions is obtained. Control simulation results using real data of the Robotino are shown. The used control which enables to produce the presented results is a standard Linear Model Predictive Control (LMPC), even though for sake of brevity the standard algorithm is not shown.