A unifying methodology for the control of robotic systems
- 1 January 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3 (21530858) , 1824-1831
- https://doi.org/10.1109/iros.2005.1545516
Abstract
Recently, R. E. Udwadia (2003) 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 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.Keywords
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