US 12,343,875 B2
System and method for controlling an operation of a manipulation system
Devesh Jha, Cambridge, MA (US); Arvind Raghunathan, Cambridge, MA (US); and Yuki Shirai, Cambridge, MA (US)
Assigned to Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed by Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed on Mar. 22, 2023, as Appl. No. 18/188,217.
Prior Publication US 2024/0316766 A1, Sep. 26, 2024
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1605 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A control system for controlling an operation of a manipulation system, wherein the manipulation system includes a robotic arm for performing a manipulation task of manipulating an object, the control system comprising: at least one processor; and a memory having instructions stored thereon that cause the at least one processor to:
formulate a particle based optimization problem for covariance control of the manipulation system, based on a Stochastic Discrete-time Linear Complementarity Model (SDLCM) of the manipulation task, and a sample average approximation;
solve the formulated particle based optimization problem using an important-particle algorithm to compute an optimal state trajectory, an optimal feedforward control trajectory, an optimal complementarity variable trajectory, a state feedback gain, and a complementarity feedback gain;
collect, from one or more sensors associated with the manipulation system, measurements indicative of a current state trajectory and a current complementarity variable trajectory;
compute a deviation of the current state trajectory from the optimal state trajectory and a deviation of the current complementarity variable trajectory from the optimal complementarity variable trajectory;
determine an online control input based on the optimal feedforward control trajectory and a feedback control to control a covariance of states and complementarity variables of the manipulation system, wherein the feedback control is based on the deviation of the current state trajectory from the optimal state trajectory, the deviation of the current complementarity variable trajectory from the optimal complementarity variable trajectory, the state feedback gain, and the complementarity feedback gain;
produce control commands for actuators of the robotic arm based on the determined online control input; and
operate the actuators of the robotic arm according to the determined online control input by transmitting control signals of the control commands to the robotic arm.