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  A new methodology for robot controller design

Peters, J., Mistry, M., Udwadia, F., & Schaal, S. (2005). A new methodology for robot controller design. In 5th ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC-MSNDC 2005) (pp. 1067-1076). New York, NY, USA: ASME.

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Peters, J1, Author              
Mistry, M, Author
Udwadia, F, Author
Schaal, S1, Author              
Affiliations:
1External Organizations, ou_persistent22              

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 Abstract: Gauss' principle of least constraint and its generalizations have provided a useful insights for the development of tracking controllers for mechanical systems [1]. 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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 Dates: 2005-09
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1115/DETC2005-85166
BibTex Citekey: 5054
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Title: 5th ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC-MSNDC 2005)
Place of Event: Long Beach, CA,USA
Start-/End Date: 2005-09-24 - 2005-09-28

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Title: 5th ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC-MSNDC 2005)
Source Genre: Proceedings
 Creator(s):
Affiliations:
Publ. Info: New York, NY, USA : ASME
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 1067 - 1076 Identifier: ISBN: 0-7918-4743-8