Publications Details
Task-level control of motion and constraint forces in holonomically constrained robotic systems
Holonomically constrained multibody systems constitute an important class of robotic systems. Under holonomic constraints motion is restricted to a constrained motion manifold within configuration space. The task-level control scheme presented here provides an effective approach to executing motion control in the presence of constraints. This scheme also allows for the simultaneous specification of desired constraint forces, given sufficient actuation, by exposing both motion coordinates and constraint forces within the control formalism. This allows for substantial flexibility in control synthesis and, thus, this methodology can be extensively applied to a wide range of holonomically constrained systems. An example is presented that demonstrates the efficacy of the analytical framework and its ease of implementation in practical robotic control problems involving constraints. © 2011 IFAC.