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A methodology for controlling motion and constraint forces in holonomically constrained systems

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An Erratum to this article was published on 17 July 2014

Abstract

Holonomic constraints are ubiquitous in multibody systems. We present an approach to effectively address the control of holonomically constrained systems using a novel decomposition of task, constraint, and posture space. In addition to providing a natural approach for motion control in the presence of constraints, this scheme also allows for concurrent specification of desired constraint forces, given sufficient actuation. It does this by exposing both motion coordinates and constraint forces within the control formalism, allowing for substantial flexibility in control synthesis. Implementations are presented based on a partitioning of the constraint forces into controlled and uncontrolled subsets, as well as a specification of implicit conditions on the constraint forces. A number of examples demonstrate the practical efficacy of the approach. Finally, a system-level methodology for constraint management during robot interactions with the environment is presented.

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Acknowledgements

This work was performed under the DARPA SyNAPSE contract HR0011-09-C-0001. This article is approved for public release, distribution unlimited. The views expressed are those of the author and do not reflect the official policy or position of the Department of Defense or the US Government.

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  1. Information and Systems Sciences Laboratory, HRL Laboratories, LLC, Malibu, CA, 90265-4797, USA

    Vincent De Sapio & Narayan Srinivasa

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  1. Vincent De Sapio
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  2. Narayan Srinivasa
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Correspondence to Vincent De Sapio.

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De Sapio, V., Srinivasa, N. A methodology for controlling motion and constraint forces in holonomically constrained systems. Multibody Syst Dyn 33, 179–204 (2015). https://doi.org/10.1007/s11044-014-9417-8

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