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A unifying framework for robot control with redundant DOFs |
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| Authors: | Jan Peters Michael Mistry Firdaus Udwadia Jun Nakanishi Stefan Schaal | ||
| Affiliation: | 1. University of Southern California, Los Angeles, CA, 90089, USA 4. Department Sch?lkopf, Max-Planck Institute for Biological Cybernetics, Spemannstra?e 38, Rm 223, 72076, Tübingen, Germany 2. ATR Computational Neuroscience Laboratories, Kyoto, 619-0288, Japan 3. ICORP, Japan Science and Technology Agency, Kyoto, 619-0288, Japan |
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| Abstract: | Recently, Udwadia (Proc. R. Soc. Lond. A 2003:1783–1800, 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.
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| Keywords: | Non-linear control Robot control Tracking control Gauss’ principle Constrained mechanics Optimal control Kinematic redundancy | ||
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