A unifying framework for robot control with redundant DOFs. Peters, J., Mistry, M., Udwadia, F., Nakanishi, J., & Schaal, S. Autonomous Robots, 24(1):1-12, Springer Netherlands, 10, 2007. abstract bibtex Recently, Udwadia (Proc. R. Soc. Lond. A 2003:1783â€"1800, 2003 ) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gauss’ principle of least constraint. This method allows reformulating control problems as a special class of optimal controllers. In this paper, we take this line of reasoning one step further and demonstrate that several well-known and also 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. 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.
@article{ Peters:2007aa,
abstract = {Recently, Udwadia (Proc. R. Soc. Lond. A 2003:1783â€"1800, 2003 ) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gaussâ€{™} principle of least constraint. This method allows reformulating control problems as a special class of optimal controllers. In this paper, we take this line of reasoning one step further and demonstrate that several well-known and also 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. 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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author = {Peters, Jan and Mistry, Michael and Udwadia, Firdaus and Nakanishi, Jun and Schaal, Stefan},
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title = {A unifying framework for robot control with redundant DOFs},
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year = {2007}
}
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