A unifying methodology for the control of robotic systems
2005
Conference Paper
ei
Recently, R. E. Udwadia (2003) suggested to derive tracking controllers for mechanical systems using a generalization of Gauss‘ principle of least constraint. This method allows us to reformulate control problems as a special class of optimal control. We take this line of reasoning one step further and demonstrate that well-known and also several novel nonlinear robot control laws can be derived from this generic methodology. We show experimental verifications on a Sarcos Master Arm robot for some of the derived controllers. We believe that the suggested approach offers a promising unification and simplification of nonlinear control law design for robots obeying rigid body dynamics equations, both with or without external constraints, with over-actuation or underactuation, as well as open-chain and closed-chain kinematics.
| Author(s): | Peters, J. and Mistry, M. and Udwadia, FE. and Cory, R. and Nakanishi, J. and Schaal, S. |
| Journal: | Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005) |
| Pages: | 1824-1831 |
| Year: | 2005 |
| Month: | August |
| Day: | 0 |
| Publisher: | IEEE Operations Center |
| Department(s): | Empirical Inference |
| Bibtex Type: | Conference Paper (inproceedings) |
| DOI: | 10.1109/IROS.2005.1545516 |
| Event Name: | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005) |
| Event Place: | Kyoto, Japan |
| Address: | Piscataway, NJ, USA |
| Digital: | 0 |
| Institution: | Institute of Electrical and Electronics Engineers |
| Language: | en |
| Organization: | Max-Planck-Gesellschaft |
| School: | Biologische Kybernetik |
| Links: |
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BibTex @inproceedings{5052,
title = {A unifying methodology for the control of robotic systems},
author = {Peters, J. and Mistry, M. and Udwadia, FE. and Cory, R. and Nakanishi, J. and Schaal, S.},
journal = {Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005)},
pages = {1824-1831},
publisher = {IEEE Operations Center},
organization = {Max-Planck-Gesellschaft},
institution = {Institute of Electrical and Electronics Engineers},
school = {Biologische Kybernetik},
address = {Piscataway, NJ, USA},
month = aug,
year = {2005},
doi = {10.1109/IROS.2005.1545516},
month_numeric = {8}
}
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