Recently, Udwadia (Proc. R. Soc. Lond. A 2003:17831800, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gauss principle of least constraint. This method allows reformulating control problems as a special class of optimal controllers. In this paper, we take this line of reasoning one step further and demonstrate that several well-known and also 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. 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, F. and Nakanishi, J. and Schaal, S. |
| Journal: | Autonomous Robots |
| Volume: | 24 |
| Number (issue): | 1 |
| Pages: | 1-12 |
| Year: | 2007 |
| Month: | October |
| Day: | 0 |
| Bibtex Type: | Article (article) |
| DOI: | 10.1007/s10514-007-9051-x |
| Digital: | 0 |
| Electronic Archiving: | grant_archive |
| Language: | en |
| Organization: | Max-Planck-Gesellschaft |
| School: | Biologische Kybernetik |
| Links: | |
BibTex
@article{4862,
title = {A unifying framework for robot control with redundant DOFs},
journal = {Autonomous Robots},
abstract = {Recently, Udwadia (Proc. R. Soc. Lond. A 2003:17831800, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gauss principle of least constraint. This method allows reformulating control problems as a special class of optimal controllers. In this paper, we take this line of reasoning one step further and demonstrate that several well-known and also 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. 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.},
volume = {24},
number = {1},
pages = {1-12},
organization = {Max-Planck-Gesellschaft},
school = {Biologische Kybernetik},
month = oct,
year = {2007},
slug = {4862},
author = {Peters, J. and Mistry, M. and Udwadia, F. and Nakanishi, J. and Schaal, S.},
month_numeric = {10}
}