Pose Control in Dynamic Conditions

Allen, Brian F.; Neff, Michael; Faloutsos, Petros

doi:10.1007/978-3-642-16958-8_6

Cited by 2 publications

(2 citation statements)

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“…To begin, section III introduces a recent analytic solution [6] of critically damped PD control parameters to robotics. This solution provides a means to determine constant PD control parameters that drive the system through a trajectory starting at the system's initial state (θ 0 , ω 0 , t 0 ) and precisely interpolating the target position at the target time…”

Section: Overviewmentioning

confidence: 99%

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Analytic proportional-derivative control for precise and compliant motion

Allen

Neff

Faloutsos

2011

2011 IEEE International Conference on Robotics and Automation

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Abstract-Precise control with proportional-derivative (PD) control generally requires stiffness. The proposed method determines critically damped PD control trajectories that precisely obtain target position and velocity constraints for arbitrary initial conditions. An analytic solution provides the PD control parameters, thereby determining the required impedance. The resulting controller precisely interpolates the target state by solving the full boundary-value problem. Control parameters are time-invariant, and need only be recomputed if the system diverges from the computed trajectory due to unexpected forces or noise. The resulting method provides control with automatically determined compliance, yielding natural response to perturbation. NOMENCLATURE (θ(t), ω(t)) Position and velocity at time t m(t)Moment of inertia at time t (θ 0 , ω 0 , t 0 ) Initial state of the system at timeComputed control torque for time t kComputed stiffness of PD controller γ Computed damping of PD controller

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Section: Overviewmentioning

confidence: 99%

“…Although an algebraic closed-form expression for γ in (2) does not exist, recent work [6] proposes an analytic solution for the control parameter γ such that constraints on both the initial position and velocity, and the desired position are satisfied exactly. We briefly review this solution.…”

Section: A Solving For Pd Control Parametersmentioning

confidence: 99%