A unifying methodology for the control of robotic systems
Peters, J.
Mistry, M.
Udwadia, F.
Cory, R.
Nakanishi, J.
Schaa, S.
Southern California Univ., Los Angeles, CA, USA;
Abstract
Recently, R. E. Udwadia (2003) suggested to derive tracking controllers for mechanical systems using a generalization of Gauss' 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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