Quadratic Programming Optimization Applied to Robotics Systems
Journal
ECTM 2023 - 2023 IEEE 7th Ecuador Technical Chapters Meeting
Date Issued
2023
Author(s)
Velasco-Sánchez E.
Guevara B.S.
Gandolfo D.
Candelas F.A.
Type
Conference Paper
Abstract
Reactive kinematic control in velocity space is closely related to the Jacobian presented in the system. However, if the Jacobian is rank-deficient, certain task-space velocities become unachievable, leading to controller degradation. This work presents an approach to controlling robotic systems based on a quadratic programming formulation that yields solutions in just a few milliseconds. The proposed framework is tested in simulation using a two-link planar robotic arm and a mobile robot. Simulations are implemented in MuJoCo and Webots, respectively, to demonstrate the efficiency of the formulation. © 2023 IEEE.
Subjects