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An Overview of Multi-task Control for Redundant Robot Based on Quadratic Programming

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Proceedings of 2023 Chinese Intelligent Automation Conference (CIAC 2023)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 1082))

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Abstract

Redundant degrees of freedom provide a feasible solution for robots to better interact with environments, but it also leads to an increase in the complexity of kinematic and dynamic control. This paper presents an overview of methods that realize the whole-body control (WBC) of a redundant robot with a quadratic programming (QP) approach. We first induce the general QP form from the single-task control method for redundant robots and describe WBC as a multi-task control problem in the form of multi-objective optimization (MOO). Then different QP algorithms for multi-task control with fixed and transitional priority are introduced. Weighted quadratic programming (WQP) and hierarchical quadratic programming (HQP) for fixed priority, and generalized hierarchical control (GHC) and recursive hierarchical projection (RHP) for transitional priority will be explicated, respectively. Finally, a toolkit implementing the above algorithms is provided, based on which simulation results are presented and remarks on different algorithms are given.

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Acknowlegement

This work was supported by STI 2030-Major Projects 2021ZD0201402.

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Authors and Affiliations

  1. Department of Automation, Tsinghua University, Bei**g, China

    Qingkai Li, Yanbo Pang, Wenhan Cai, Yushi Wang, Qing Li & Mingguo Zhao

  2. Bei**g Innovation Center for Future Chips, Tsinghua University, Bei**g, China

    Mingguo Zhao

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  1. Qingkai Li
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  2. Yanbo Pang
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  3. Wenhan Cai
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  4. Yushi Wang
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  5. Qing Li
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  6. Mingguo Zhao
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Corresponding author

Correspondence to Mingguo Zhao .

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Editors and Affiliations

  1. Tsinghua University, Bei**g, Bei**g, China

    Zhidong Deng

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Li, Q., Pang, Y., Cai, W., Wang, Y., Li, Q., Zhao, M. (2023). An Overview of Multi-task Control for Redundant Robot Based on Quadratic Programming. In: Deng, Z. (eds) Proceedings of 2023 Chinese Intelligent Automation Conference. CIAC 2023. Lecture Notes in Electrical Engineering, vol 1082. Springer, Singapore. https://doi.org/10.1007/978-981-99-6187-0_64

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