An optimal open-loop strategy for handling a flexible beam with a robot manipulator

Introduction

If flexible objects such as beams are handled like rigid body objects, then large vibrations are induced in the system.

problem_demo.mp4

Getting started

1. Install required packges listed in requirements.txt (beam_handling_py folder)
2. Install python package by running pip install -e . from beam_handling_py folder
3. Build beam handling catkin workspace (beam_handling_ws) to use RViz for visualizing the trajectory of the robot
4. Run optimal_handling.py

Point-to-point trajectory optimization

We formulate point-to-point trajectory design as an optimization problem (OCP). OCP requires a model of the system. Under some assumption we model the manipulator as a double integrator. The beam, we approximate as a simple pendulum attached to the end-effector of the robot via a passive compliant revolute joint.

Given the model and the task, we formulate the OCP as follows:

The problem is described in detail in the paper.

Citing

To cite our paper in your academic research, please use the following bibtex line:

@article{mamedov2022OBH,
  title={An optimal open-loop strategy for handling a flexible beam with a robot manipulator},
  author={Mamedov, Shamil and Astudillo, Alejandro and Ronzani, Daniele and Decr{\'e}, Wilm and No{\"e}l, Jean-Philippe and Swevers, Jan},
  journal={arXiv preprint arXiv:2210.00578},
  year={2022}
}