| Publication type: |
Article in Proceedings |
| Author: |
Dennis Schüthe, Udo Frese |
| Editor: |
Joaquim Filipe, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek |
| Title: |
Task Level Optimal Control of a Simulated Ball Batting Robot |
| Book / Collection title: |
ICINCO 2014 – 11th International Conference on Informatics in Control, Automation and Robotics |
| Volume: |
2 |
| Page(s): |
45 – 56 |
| Year published: |
2014 |
| Publisher: |
SCITEPRESS |
| Abstract: |
We developed a task-oriented controller based on optimal finite horizon control. We demonstrate this on a flexible ball playing robot with redundant degrees of freedom. The task is to reach a specified Cartesian position and velocity of the bat at a specified time, in order to rebound the ball. The controller must maintain high accuracy and react to disturbances and changing conditions. Therefore, we formulate this as an optimal control problem giving the controller the possibility to autonomously distribute motor torques amongst the redundant degrees of freedom. In simulations, we show the accuracy of the controller, the intelligent distribution of motor torques, as well as robustness against disturbances and adaptation to changing conditions. |
| ISBN: |
978-989-758-040-6 |
| Internet: |
http://www.icinco.org/Home.aspx |
| PDF Version: |
http://www.informatik.uni-bremen.de/agebv2/downloads/published/schuetheicinco14.pdf |
| Keywords: |
optimal control finite horizon LQR affine system entertainment robot redundancy flexible joints |
| Status: |
Reviewed |
| Last updated: |
08. 09. 2014 |
