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| Record Number | 10273 |
| Reference Type | Journal Article |
| Author(s) | Peters, J.;Mistry, M.;Udwadia, F. E.;Nakanishi, J.;Schaal, S. |
| Year | 2008 |
| Title | A unifying methodology for robot control with redundant DOFs |
| Journal/Conference/Book Title | Autonomous Robots |
| Keywords | operational space control, inverse control, dexterous manipulation, optimal control |
Abstract |
Recently, Udwadia (Proc. R. Soc. Lond. A 2003:1783–1800, 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.
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| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications/P/peters-AR2008.pdf
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| Volume | 24 |
| Number | 1 |
| Pages | 1-12 |
| Short Title | A unifying methodology for robot control with redundant DOFs |
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Page last modified on August 10, 2006, at 06:47 PM
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