Gauss’ principle of least constraint and its generalizations have provided a useful insights for the development of tracking controllers for mechanical systems . Using this concept, we present a novel methodology for the design of a specific class of robot controllers. With our new framework, we demonstrate that well-known and also several novel nonlinear robot control laws can be derived from this generic framework, and show experimental verifications on a Sarcos Master Arm robot for some of these controllers. We believe that the suggested approach unifies and simplifies the design of optimal nonlinear control laws for robots obeying rigid body dynamics equations, both with or without external constraints, holonomic or nonholonomic constraints, with over-actuation or underactuation, as well as open-chain and closed-chain kinematics.
- Design Engineering Division and Computers and Information in Engineering Division
A New Methodology for Robot Controller Design
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Peters, J, Mistry, M, Udwadia, F, & Schaal, S. "A New Methodology for Robot Controller Design." Proceedings of the ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C. Long Beach, California, USA. September 24–28, 2005. pp. 1067-1076. ASME. https://doi.org/10.1115/DETC2005-85166
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