Help Privacy Policy Disclaimer
  Advanced SearchBrowse




Conference Paper

A unifying methodology for the control of robotic systems

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

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.

Cite as: https://hdl.handle.net/11858/00-001M-0000-0013-D4AF-2
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.