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Control oriented dynamic formulation for robotic systems with program constraints

Published online by Cambridge University Press:  31 October 2005

Elżbieta Jarzȩbowska
Elżbieta Jarzȩbowska
Affiliation:
Institute of Aircraft Engineering and Applied Mechanics, Warsaw University of Technology, 00-665 Warsaw, Nowowiejska 24 (Poland). E-mail: elajarz@meil.pw.edu.pl
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Abstract

The paper presents a control oriented dynamic formulation for constrained robotic systems. We refer to this formulation as control oriented since it can be directly applied to design a model-based tracking control strategy. It enables one to obtain dynamic models for systems subjected to material constraints and non-material referred to as program constraints. The dynamic model for a constrained robot, where equations of program constraints specify tasks and motion requirements, is used as a program motion planner for a controller design. The formulation provides a theoretical framework, which is a basis for the study of robot performance of constrained tasks. Examples of developments of control oriented dynamic models are presented, and their applications for control are demonstrated and discussed.

Keywords

Program constraintsRobotic systemsControls oriented formulationDynamic models
Type
Research Article
Information
Robotica , Volume 24 , Issue 1 , January 2006 , pp. 61 - 73
Copyright
2005 Cambridge University Press

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