Feedforward dynamics for the control of articulated multi-limb robots

被引：2

作者：

Jain, Abhinandan ^{[1
]}

Kuo, Calvin ^{[1
]}

Sinkarenko, Ivan ^{[1
]}

机构：

[1] CALTECH, Jet Prop Lab, 4800 Oak Grove Dr, Pasadena, CA 91109 USA

来源：

MULTIBODY SYSTEM DYNAMICS | 2016年 / 37卷 / 01期

关键词：

Robotics; Dynamics; Control; STABILITY; MOTION;

D O I：

10.1007/s11044-016-9511-1

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

We describe a general approach for using linearizing feedforward control inputs for large degree of freedom (dof) multi-limb robots operating in scenarios involving motion and force constraints, and under-actuated degrees of freedom arising from the task and the environment. Our solution is general and has low computational cost needed for real-time control loops. It supports the tuning of the feedforward term to meet multiple task objectives. Being structure-based, it is able to easily accommodate changes in motion and force constraints that often occur in robotics scenarios.

引用

页码：49 / 68

页数：20

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