Recently, [1] suggested to derive tracking controllers for mechanical systems using a generalization of GaussÕ principle of least constraint. This method al-lows 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 Sar-cos Master Arm robot for some of the 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 equa-tions, both with or without external constraints, with over-actuation or under-actuation, as well as open-chain and closed-chain kinematics.
| Author(s): | Peters, J. and Mistry, M. and Udwadia, F. E. and Cory, R. and Nakanishi, J. and Schaal, S. |
| Book Title: | IEEE International Conference on Intelligent Robots and Systems (IROS 2005) |
| Pages: | 1824-1831 |
| Year: | 2005 |
| Bibtex Type: | Conference Paper (inproceedings) |
| Address: | Edmonton, Alberta, Canada, Aug. 2-6 |
| URL: | http://www-clmc.usc.edu/publications/P/peters-IROS2005.pdf |
| Cross Ref: | p2576 |
| Electronic Archiving: | grant_archive |
| Note: | clmc |
BibTex
@inproceedings{Peters_IICIRS_2005,
title = {A unifying framework for the control of robotics systems},
booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS 2005)},
abstract = {Recently, [1] suggested to derive tracking controllers for mechanical systems using a generalization of GaussÕ principle of least constraint. This method al-lows 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 Sar-cos Master Arm robot for some of the 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 equa-tions, both with or without external constraints, with over-actuation or under-actuation, as well as open-chain and closed-chain kinematics.},
pages = {1824-1831},
address = {Edmonton, Alberta, Canada, Aug. 2-6},
year = {2005},
note = {clmc},
slug = {peters_iicirs_2005},
author = {Peters, J. and Mistry, M. and Udwadia, F. E. and Cory, R. and Nakanishi, J. and Schaal, S.},
crossref = {p2576},
url = {http://www-clmc.usc.edu/publications/P/peters-IROS2005.pdf}
}