Unscented optimization and control allocation
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Authors
Ross, Isaac Michael
Karpenko, Mark
Proulx, Ronald J.
Subjects
Advisors
Date of Issue
2018-09-04
Date
Publisher
The Government of the United States of America, as represented by the Secretary of the Navy, Washington, DC (US)
Language
en_US
Abstract
The disclosure provides a robotic arm controller which
determines a control parameter for at least one actuator
comprising the robotic arm using a control equation having the general form Ax=b, where A is a transformation matrix A based on the geometry and Jacobian of the robotic arm, x is the control parameter x such as a torque vector at a specific joint, and b is the end effector parameter b which specifies a desired corrective state of the end effector. The methodology, by way of constructing and solving an unscented optimization problem, provides a solution to the Ax=b problem by perturbing at least one joint angle appearing in the Jacobian to generate a plurality of distributed joint angles, determining a control parameter x which minimizes an error function. In a particular embodiment, the error function is sum of residual squares, and the appropriate control parameter x is determined by minimizing the error function subject to a series of constraints A,x-b-z,=O, where each constraint arises by virtue of the error generated through use of a given joint angle in the plurality of distributed joint angles selected.
Type
Patent
Description
Patent
Series/Report No
Department
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
24 p.
Citation
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.