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Title: Quadratic Programming Optimization Applied to Robotics Systems
Authors: Recalde, Luis
Velasco-Sánchez, Edison
Guevara, Bryan
Gandolfo, Daniel
Candelas, Francisco
Issue Date: 2023
Publisher: ECTM 2023 - 2023 IEEE 7th Ecuador Technical Chapters Meeting
Abstract: Reactive kinematic control in velocity space is closely related to the Jacobian presented in the system. However, if the Jacobian is rank-deficient, certain task-space velocities become unachievable, leading to controller degradation. This work presents an approach to controlling robotic systems based on a quadratic programming formulation that yields solutions in just a few milliseconds. The proposed framework is tested in simulation using a two-link planar robotic arm and a mobile robot. Simulations are implemented in MuJoCo and Webots, respectively, to demonstrate the efficiency of the formulation.
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