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The document discusses the power and limitations of linearization for robot control. It describes how robot actions can be expressed in terms of motions in robot control space through linearization using the Jacobian matrix. While linearization allows solving the control problem locally in real-time, it provides no look-ahead capabilities, which is its main limitation.

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Russel Patrick
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24 views

Point 1

The document discusses the power and limitations of linearization for robot control. It describes how robot actions can be expressed in terms of motions in robot control space through linearization using the Jacobian matrix. While linearization allows solving the control problem locally in real-time, it provides no look-ahead capabilities, which is its main limitation.

Uploaded by

Russel Patrick
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Power and Limits of Linearization

 Power and Limits of Linearization Translating actions in terms of motions expressed in the robot
control space has been expressed in many ways, from the operational space formulation19 to
the task function approach,34 to cite a few.
 The notion of task encompasses the notion of action expressed in the physical space.
 The task space may be the physical space (like for putting a manipulator end effector to some
position defined in a world frame) or a sensory space (like tracking an object in a robot camera
frame).
 The role of the so-called task function is to make the link between the task space and the
control space.
 Due to the underlying highly nonlinear transformations, the inversion problem is very costly to
solve (minutes or hours of computation for seconds of motion).
 To meet the time constraints imposed by the control frequency of the robots, the problem is
addressed only locally by considering the tangent spaces of both the task space and the
configuration space.
 Such a linearization involves the Jacobian matrix31 and resorts to all the machinery of linear
algebra.
 The linearization is particularly interesting as the tangent space of the configuration space
gathers the configuration velocities that usually contain the robot control inputs.
 Dynamic extensions of this principle allow considering torque-based controls.
 19 The Jacobian matrix varies with the robot configuration, making the search for a trajectory
nonlinear.
 However, for a given configuration, it defines a linear problem linking the unknown system
velocity to the velocity in the task space given as references.
 From a numerical point of view, this problem is linear and can easily be solved at each instant to
obtain the system velocity.
 The integration of this velocity from the initial configuration over a time interval draws a
trajectory tending to fulfill the task.
 The velocity can similarly be applied in real time by the robot to control it toward the goal.
 The linear problem is re-initialized at each new configuration updated with the sensor
measurements and the process is iterated.
 This iterative principle corresponds to the iterative descent algorithms (like the gradient
descent or the Newton-Raphson descent), which are used to numerically compute the zero
value of a given function.
 However, the method gives more: the sequence of descent iterations, assuming small descent
steps, is a discretization of the real trajectory from the initial configuration to the goal.
 The drawback of the instantaneous linearization is it provides no look-ahead capabilities to the
control, which might lead the robot to a local minimum, typically when approaching non-convex
obstacles.
 This is the well-known curse of linearization.

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