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Abstract
This paper presents a control barrier function
(CBF) for systems described by differential-algebraic equations
and applies the method to guarantee the safety of a two-link
flexible-link manipulator. The two main contributions of the
paper are: a) an extension of CBFs to systems governed by
differential-algebraic equations; b) a framework for simula-
tion of flexible-link robots in a floating frame of reference
formulation (FFRF) finite element method (FEM). Numerical
simulations demonstrate the minimally invasive safety control
of a flexible two-link manipulator with position constraints
through CBF quadratic programming without converting the
differential-algebraic equations to a control-affine system.
(CBF) for systems described by differential-algebraic equations
and applies the method to guarantee the safety of a two-link
flexible-link manipulator. The two main contributions of the
paper are: a) an extension of CBFs to systems governed by
differential-algebraic equations; b) a framework for simula-
tion of flexible-link robots in a floating frame of reference
formulation (FFRF) finite element method (FEM). Numerical
simulations demonstrate the minimally invasive safety control
of a flexible two-link manipulator with position constraints
through CBF quadratic programming without converting the
differential-algebraic equations to a control-affine system.
| Original language | English |
|---|---|
| Title of host publication | 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Publisher | IEEE |
| Publication date | 18. Oct 2024 |
| Pages | 12408-12413 |
| ISBN (Electronic) | 979-8-3503-7770-5 |
| DOIs | |
| Publication status | Published - 18. Oct 2024 |
| Event | 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024 - Abu Dhabi, United Arab Emirates Duration: 14. Oct 2024 → 18. Oct 2024 |
Conference
| Conference | 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024 |
|---|---|
| Country/Territory | United Arab Emirates |
| City | Abu Dhabi |
| Period | 14/10/2024 → 18/10/2024 |
| Series | Proceedings - IEEE International Conference on Intelligent Robots and Systems |
|---|---|
| ISSN | 2153-0858 |
Funding
This work has been carried out within the framework of the EUROfusion Consortium, funded by the European Union via the Euratom Research and Training Programme (Grant Agreement No 101052200 — EUROfusion). Views and opinions expressed are however those of the authors only and do not necessarily reflect those of the European Union or the European Commission. Neither the European Union nor the European Commission can be held responsible for them.
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Dive into the research topics of 'Differential-Algebraic Equation Control Barrier Function for Flexible Link Manipulator'. Together they form a unique fingerprint.Related research output
- 1 Ph.D. thesis
-
Modeling and Control of Flexible Robots Subject to Large Loads: Application to Remote Handling
Park, Y., 5. Jul 2026, Syddansk Universitet. Det Tekniske Fakultet. 221 p.Research output: Thesis › Ph.D. thesis
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