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  A unifying methodology for the control of robotic systems

Peters, J., Mistry, M., Udwadia, F., Cory, R., Nakanishi, J., & Schaal, S. (2005). A unifying methodology for the control of robotic systems. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1824-1831). Piscataway, NJ, USA: IEEE Operations Center.

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Peters, J1, Author              
Mistry , M, Author
Udwadia, FE, Author
Cory, R, Author
Nakanishi, J, Author
Schaal, S1, Author              
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1External Organizations, ou_persistent22              

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 Abstract: Recently, R. E. Udwadia (2003) suggested to derive tracking controllers for mechanical systems using a generalization of Gausslsquo; 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.

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 Dates: 2005-08
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/IROS.2005.1545516
BibTex Citekey: 5052
 Degree: -

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Title: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005)
Place of Event: Kyoto, Japan
Start-/End Date: 2005-08-02 - 2005-08-06

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Title: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE Operations Center
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 1824 - 1831 Identifier: ISBN: 0-7803-8912-3