A new methodology for robot controller design

Peters, J; Mistry, M; Udwadia, F

doi:10.1115/DETC2005-85166

アイテム詳細

登録内容を編集ファイル形式で保存

一時保存へ追加

このアイテムの新しいバージョンが利用可能です:
https://pure.mpg.de/pubman/item/item_1791315_3

詳細要約

公開

会議論文

A new methodology for robot controller design

MPS-Authors

/persons/resource/persons84135

Peters, J
Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Dept. Empirical Inference, Max Planck Institute for Intelligent Systems, Max Planck Society;

External Resource

There are no locators available

Fulltext (restricted access)

There are currently no full texts shared for your IP range.

フルテキスト (公開)

公開されているフルテキストはありません

付随資料 (公開)

There is no public supplementary material available

引用

Peters, J., Mistry, M., & Udwadia, F. (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.

引用: https://hdl.handle.net/11858/00-001M-0000-0013-D437-C

要旨

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.