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A new methodology for robot control design

2005

Conference Paper

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Gauss principle of least constraint and its generalizations have provided a useful insights for the development of tracking controllers for mechanical systems (Udwadia,2003). Using this concept, we present a novel methodology for the design of a specific class of robot controllers. With our new framework, we demonstrate that well-known and also several novel nonlinear robot control laws can be derived from this generic framework, and show experimental verifications on a Sarcos Master Arm robot for some of these controllers. We believe that the suggested approach unifies and simplifies the design of optimal nonlinear control laws for robots obeying rigid body dynamics equations, both with or without external constraints, holonomic or nonholonomic constraints, with over-actuation or underactuation, as well as open-chain and closed-chain kinematics.

Author(s): Peters, J. and Mistry, M. and Udwadia, F. E. and Schaal, S.
Book Title: The 5th ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC 2005)
Year: 2005

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

Address: Long Beach, CA, Sept. 24-28
Cross Ref: p2575
Note: clmc
URL: http://www-clmc.usc.edu/publications/P/peters-MSND2005.pdf

BibTex

@inproceedings{Peters_TAICMSNDC_2005,
  title = {A new methodology for robot control design},
  author = {Peters, J. and Mistry, M. and Udwadia, F. E. and Schaal, S.},
  booktitle = {The 5th ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC 2005)},
  address = {Long Beach, CA, Sept. 24-28},
  year = {2005},
  note = {clmc},
  crossref = {p2575},
  url = {http://www-clmc.usc.edu/publications/P/peters-MSND2005.pdf}
}