Abstract
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry parameters. These parameters impact the manipulator's link mass, inertia, center-of-mass, torque constraints, and angular velocity constraints, influencing control authority in motion planning and trajectory tracking control. A motor's maximum torque/speed and how the design parameters affect the dynamics are modeled analytically, facilitating differentiable and analytical dynamic modeling. Additionally, an integrated locomotion and manipulation planning problem is formulated with direct collocation discretization, using the proposed differentiable dynamics and motor parameterization. Such dynamics are required to capture the dynamic coupling between the base and the manipulator. Numerical experiments demonstrate the effectiveness of differentiable dynamics in speeding up optimization and advantages in task completion time and energy consumption over established sequential motion planning approach. Finally, this paper introduces a simultaneous actuator design and motion planning framework, providing numerical results to validate the proposed differentiable modeling approach for co-design problems.
Abstract (translated)
本文研究了可导动态建模方法，以促进移动执行器的高效运动规划与物理设计，其中执行器设计通过固有意义的电机几何参数进行参数化。这些参数影响着操作器的质量、惯性、质心、扭矩限制和角速度限制，影响着运动规划与轨迹跟踪控制的控制权威。通过分析建模，最大扭矩/速度以及设计参数如何影响动态，为不同的动态建模提供了帮助。 此外，本文还使用直接离散化法，将运动与操作规划问题相结合，使用所提出的可导动态建模方法。这种动态需要捕获基础与操作器之间的动态耦合。数值实验证明了可导动态在加速优化和任务完成时间以及能源消耗方面的优势，超过了现有的顺序运动规划方法。最后，本文引入了一种同时执行器设计和运动规划框架，为共同设计问题提供了数值结果，以验证所提出的可导建模方法的有效性。
URL
https://arxiv.org/abs/2405.00882
