A unifying methodology for the control of robotic systems (2005)
| Venue: | in IEEE International Conference on Intelligent Robots and Systems |
| Citations: | 22 - 12 self |
BibTeX
@INPROCEEDINGS{Peters05aunifying,
author = {Jan Peters and Michael Mistry and Firdaus Udwadia and Jun Nakanishi and Stefan Schaal},
title = {A unifying methodology for the control of robotic systems},
booktitle = {in IEEE International Conference on Intelligent Robots and Systems},
year = {2005}
}
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Abstract
Abstract — Recently, [1] 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 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. Index Terms — Non-linear control, robot control, tracking control.
