다관절 로봇의 계층적 제어를 위한 HQP의 연산 비용 감소 방법

박민규, 김동환, 오용환, 이이수

로봇학회 논문지

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저자 : 박민규, 김동환, 오용환, 이이수
논문명 : Computational Cost Reduction Method for HQP-based Hierarchical Controller for Articulated Robot
학술지명 : 로봇학회 논문지
권호사항 : 17 / (1) (p. pp.16-24)
SCI-E 여부 : Non SCI-E
ISSN : 1975-6291
DOI : https://doi.org/10.7746/jkros.2022.17.1.016">https://doi.org/10.7746/jkros.2022.17.1.016
초록 : This paper presents a method that can reduce the computational cost of the hierarchical quadratic programming (HQP)-based robot controller. Hierarchical controllers can effectively manage articulated robots with many degrees of freedom (DoFs) to perform mThis paper presents a method that can reduce the computational cost of the hierarchical quadratic programming (HQP)-based robot controller. Hierarchical controllers can effectively manage articulated robots with many degrees of freedom (DoFs) to perform multiple tasks. The HQP-based controller is one of the generic hierarchical controllers that can provide a control solution guaranteeing strict task priority while handling numerous equality and inequality constraints. However, according to a large amount of computation, it can be a burden to use it for real-time control. Therefore, for practical use of the HQP, we propose a method to reduce the computational cost by decreasing the size of the decision variable. The computation time and control performance of the proposed method are evaluated by real robot experiments with a 15 DoFs dual-arm manipulator

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