Is Dynamic Control Needed in Robotic Systems, and, if So, to What Extent?

Abstract

The problem of dynamic control in robotic systems is considered in this paper. Robotic systems are essentially dynamic systems. The problem is whether is it necessary to take dynamics into account in controlling them, and, if so, to what extent. In cases of slow motion and mechanical configuration with weakly coupled subsystems ( mechanical degrees of freedom ) it is not necessary to solve the control task dynamically. In cases of faster motion and mechanical configuration with strongly coupled subsystems, however, the control task is essentially dynamic and we suggest some control strategies which include complete dynamics of the robot. Several examples of locomotion and manipulation robots' control synthesis are presented. We present postural stabilization of biped robot, as a representative of dynami cally unstable locomotion robots. The control synthesis for three types of manipulation robots is described in order to show how the extent of inclusion of dynamics in the control depends on the mechanical configuration of a robot.