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| Record Number | 2576 |
| Reference Type | Conference Proceedings |
| Author(s) | Peters, J.;Mistry, M.;Udwadia, F. E.;Cory, R.;Nakanishi, J.;Schaal, S. |
| Year | 2005 |
| Title | A unifying framework for the control of robotics systems |
| Journal/Conference/Book Title | IEEE International Conference on Intelligent Robots and Systems (IROS 2005) |
Abstract |
Recently, [1] suggested to derive tracking controllers for mechanical systems using a generalization of GaussŐ principle of least constraint. This method al-lows 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 Sar-cos 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 equa-tions, both with or without external constraints, with over-actuation or under-actuation, 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-IROS2005.pdf
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| Place Published | Edmonton, Alberta, Canada, Aug. 2-6 |
| Pages | 1824-1831 |
| Short Title | A unifying framework for the control of robotics systems |
| 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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