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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

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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},
  month_numeric = {8}
}