MIMO Feedback Linearization of Redundant Robotic Systems using Task-Priority Operational Space Control

Dynamic multi-priority control in redundant robotic systems

Robotica / Volume 31 / Issue 07 / October 2013, pp 1155 1167 DOI: 10.1017/S0263574713000416, Published online: 22 May 2013 Link to this article: http://journals.cambridge.org/abstract_S0263574713000416 How to cite this article: Hamid Sadeghian, Luigi Villani, Mehdi Keshmiri and Bruno Siciliano (2013). Dynamic multi-priority control in redundant robotic systems. Robotica, 31, pp 1155-1167 doi:10...

Lecture 3: Feedback linearization of MIMO systems

In this lecture, we investigate the problem of exact linearization by feedback for multiple input multiple output systems. We will see that, when a “vector” relative degree exists, things go as smoothly as for SISO systems. To deal with the case when no relative degree exists, we will discuss the dynamic extension algorithm. This algorithm will help us choose a dynamic state feedback to make th...

non-linear control distillation column using approximate feedback linearization

Task Space Retrieval Using Inverse Feedback Control

Learning complex skills by repeating and generalizing expert behavior is a fundamental problem in robotics. A common approach is learning from demonstration: given examples of correct motions, learn a policy mapping state to action consistent with the training data. However, the usual approaches do not answer the question of what are appropriate representations to generate motions for specific ...

The Robotic Lumbar Spine: Dynamics and Feedback Linearization Control

The robotic lumbar spine (RLS) is a 15 degree-of-freedom, fully cable-actuated robotic lumbar spine which can mimic in vivo human lumbar spine movements to provide better hands-on training for medical students. The design incorporates five active lumbar vertebrae and the sacrum, with dimensions of an average adult human spine. It is actuated by 20 cables connected to electric motors. Every vert...