The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control and robotics. This paper presents a torque control architecture for fully actuated manipulators for tracking the desired time-varying trajectory while ensuring the joints position and velocity limits. The presented architecture stems from the parametrization of the feasible joints position and velocity space by exogenous states. The proposed parametrization transforms the control problem with constrained states to an un-constrained one by replacing the joints position and velocity with the exogenous states. With the help of Lyapunov-based arguments, we prove that the proposed control architecture ensures the stability and convergence of the desired joint trajectory along with the joints position and velocity limits avoidance. We validate the performance of proposed architecture through various simulations on a simple two-degree-of-freedom manipulator and the humanoid robot iCub.

翻译：摘要：为实现期望运动并兼顾机器人系统关节约束的控制架构设计，仍是控制与机器人学领域的开放性难题。本文提出一种面向全驱动机械臂的力矩控制架构，用于跟踪时变期望轨迹的同时确保关节位置与速度极限。该架构源于通过外生状态对关节可行位置与速度空间进行参数化。所提出的参数化方法用外生状态替代关节位置与速度，将具有状态约束的控制问题转化为无约束问题。基于李雅普诺夫理论，我们证明该控制架构能确保期望关节轨迹的稳定性与收敛性，同时实现关节位置与速度极限的避让。通过在简单二自由度机械臂及人形机器人iCub上的多组仿真实验，验证了所提架构的性能。