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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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Datensatz-Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-D4AF-2 Versions-Permalink: https://hdl.handle.net/21.11116/0000-0005-0DED-3
Genre: Konferenzbeitrag

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externe Referenz:
https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1545516 (Verlagsversion)
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 Urheber:
Peters, J1, Autor           
Mistry , M, Autor
Udwadia, FE, Autor
Cory, R, Autor
Nakanishi, J, Autor
Schaal, S1, Autor           
Affiliations:
1External Organizations, ou_persistent22              

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Schlagwörter: -
 Zusammenfassung: 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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Sprache(n):
 Datum: 2005-08
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: DOI: 10.1109/IROS.2005.1545516
BibTex Citekey: 5052
 Art des Abschluß: -

Veranstaltung

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Titel: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005)
Veranstaltungsort: Kyoto, Japan
Start-/Enddatum: 2005-08-02 - 2005-08-06

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Quelle 1

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Titel: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE Operations Center
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 1824 - 1831 Identifikator: ISBN: 0-7803-8912-3