| DOI 10.1007/s10514-007-9051-x A unifying framework for robot control with redundant DOFs (2009) | |||||||||||||||
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| 2003:1783–1800, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-offreedom (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. Keywords Non-linear control · Robot control · Tracking control · Gauss ’ principle · Constrained mechanics · Optimal control · Kinematic redundancy | |||||||||||||||
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