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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

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