Session: DAC-01-2: Control Co-Design

Paper Number: 148037

148037 - Integrated Manipulation Planning and Control Co-Design of Robot Manipulators 

Two new approaches for integrated design of robotic manipulation systems are presented. Conventional strategies tackle elements of this system design problem in sequence, at times with iteration, and cannot fully capitalize upon the rich interactions across system design decisions. Here, we propose two innovative co-design methods that integrate manipulation planning, plant design, and control holistically to produce new performance capabilities. These methods are applied to a 3R planar manipulator in a pick-and-place scenario. Significant improvements in power consumption are demonstrated, offering insight into the potential impact of integrated methods for overall robotic system design.

Two main methods are proposed here to combine manipulation planning and CCD. The first approach involves solving the integrated manipulation planning, plant design, and control design problems simultaneously. In this method, path, physical design, and control design variables are simultaneously adjusted during optimization for a given task.

The second approach considers the simultaneous co-optimization of the plant and control design by deviating from the desired path generated from the manipulation planning of an initially designed robot to achieve optimal performance. Compared to the previous method, this method is less computationally expensive but cannot fully leverage the design coupling between path and plant/control design. That said, it does offer an improvement over the conventional iterative sequential method that cannot fully account for any of the couplings between the three sets of design decisions.

Presenting Author: Abbas Bataleblu University of Illinois Urbana Champaign

Presenting Author Biography: Abbas Bataleblu is a PhD student in Systems Engineering at the University of Illinois Urbana-Champaign ISE department. His research interests are Control Co-Design, Robotics, Control Theory, and Mechatronics. He received his B.Sc. degree in Robotics Engineering and M.Sc. in Mechatronics Engineering.

Authors:

Abbas Bataleblu University of Illinois Urbana Champaign
Joohyung Kim University of Illinois Urbana-Champaign
James T. Allison University of Illinois Urbana-Champaign