@article{HamadGKMASBH23,
    title = {Fast yet predictable braking manoeuvers for real-time robot control},
    journal = {IFAC-PapersOnLine},
    volume = {56},
    number = {2},
    pages = {9984-9991},
    year = {2023},
    note = {22nd IFAC World Congress},
    issn = {2405-8963},
    doi = {https://doi.org/10.1016/j.ifacol.2023.10.711},
    url = {https://www.sciencedirect.com/science/article/pii/S2405896323010868},
    author = {Mazin Hamad and Jesus Gutierrez-Moreno and Hugo T.M. Kussaba and Nico Mansfeld and Saeed Abdolshah and Abdalla Swikir and Wolfram Burgard and Sami Haddadin},
    keywords = {Controlled stop, optimal control, braking manoeuvers, stopping trajectory prediction},
    abstract = {This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The first approach is realtime capable but conservative considering the usage of the available feasible actuator control region, resulting in longer braking times. In contrast, the second approach maximizes the used braking control inputs at the cost of requiring more time to evaluate larger, feasible modal limits via optimization. Both approaches allow for predicting the robot's stopping trajectory online. In addition, we also formulated and solved a constrained, nonlinear final-time minimization problem to find optimal torque inputs. The optimal solutions were used as a benchmark to evaluate the performance of the proposed predictable braking framework. A comparative study was compiled in simulation versus a classical optimal controller on a 7-DoF robot arm with only three moving joints. The results verified the effectiveness of our proposed framework and its integrated approaches in achieving fast robot braking manoeuvers with accurate online predictions of the stopping trajectories and distances under various braking settings.}
}