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Autonomous Motion Conference Paper 2005

A new methodology for robot control design

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Empirische Inferenz
Jan Peters
Research Group Leader
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Autonomous Motion
Stefan Schaal
  • Director

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
Bibtex Type: Conference Paper (inproceedings)
Address: Long Beach, CA, Sept. 24-28
URL: http://www-clmc.usc.edu/publications/P/peters-MSND2005.pdf
Cross Ref: p2575
Electronic Archiving: grant_archive
Note: clmc

BibTex 

@inproceedings{Peters_TAICMSNDC_2005,
  title = {A new methodology for robot control design},
  booktitle = {The 5th ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC 2005)},
  abstract = {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.},
  address = {Long Beach, CA, Sept. 24-28},
  year = {2005},
  note = {clmc},
  slug = {peters_taicmsndc_2005},
  author = {Peters, J. and Mistry, M. and Udwadia, F. E. and Schaal, S.},
  crossref = {p2575},
  url = {http://www-clmc.usc.edu/publications/P/peters-MSND2005.pdf}
}