DocumentCode :
2940451
Title :
Operational Space Control of Multibody Systems with Explicit Holonomic Constraints
Author :
De Sapio, Vincent ; Khatib, Oussama
Author_Institution :
Artificial Intelligence Laboratory Stanford University Stanford, CA 94305, USA; vdesap@robotics.stanford.edu
fYear :
2005
fDate :
18-22 April 2005
Firstpage :
2950
Lastpage :
2956
Abstract :
This paper presents an operational space control approach for the general class of holonomically constrained multibody systems. As a point of departure, the general formulation of constrained dynamical systems is addressed using multiplier and minimization approaches. The constrained dynamics problem is interpreted with respect to its underlying symmetry with task space dynamics. A framework for constrained operational space control is then presented which casts the general formulation of constrained multibody systems into a task space setting. This provides a means of exploiting natural task-level control structures within the constrained environment. A set of examples illustrate this control implementation.
Keywords :
dynamics; holonomic constraints; operational space control; Artificial intelligence; Control systems; Equations; Kinematics; Knee; Laboratories; Robotics and automation; Taxonomy; Topology; Tree graphs; dynamics; holonomic constraints; operational space control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
Type :
conf
DOI :
10.1109/ROBOT.2005.1570562
Filename :
1570562
Link To Document :
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