Abstract
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.
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Notes
The “∗” superscript denotes matrix transpose.
For a matrix \(A\), the \(A^{*}\) notation denotes its matrix transpose.
©2016 California Institute of Technology. Government sponsorship acknowledged.
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Acknowledgements
The research described in this paper was performed at the Jet Propulsion Laboratory (JPL), California Institute of Technology, under a contract with the National Aeronautics and Space Administration.Footnote 3 The authors declare that they have no conflict of interest.
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Jain, A., Kuo, C. & Sinkarenko, I. Feedforward dynamics for the control of articulated multi-limb robots. Multibody Syst Dyn 37, 49–68 (2016). https://doi.org/10.1007/s11044-016-9511-1
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DOI: https://doi.org/10.1007/s11044-016-9511-1