English
 
Help Privacy Policy Disclaimer
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT

Released

Conference Paper

A new methodology for robot controller design

MPS-Authors
There are no MPG-Authors in the publication available
Fulltext (restricted access)
There are currently no full texts shared for your IP range.
Fulltext (public)
There are no public fulltexts stored in PuRe
Supplementary Material (public)
There is no public supplementary material available
Citation

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.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-D437-C
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.