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| Record Number | 2575 |
| Reference Type | Conference Proceedings |
| Author(s) | Peters, J.;Mistry, M.;Udwadia, F. E.;Schaal, S. |
| Year | 2005 |
| Title | A new methodology for robot control design |
| Journal/Conference/Book Title | The 5th ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC 2005) |
| Keywords | robot control, nonlinear control, gauss principle |
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.
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| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications/P/peters-MSNDC2005.pdf
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| Place Published | Long Beach, CA, Sept. 24-28 |
| Short Title | A new methodology for robot control design |
| Papers are available as Adobe PDF ".pdf" files. Adobe Reader is available for free for all computer platforms.
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Page last modified on August 10, 2006, at 06:47 PM
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