BYU

Abstract by Gabriella Smith

Personal Infomation


Presenter's Name

Gabriella Smith

Co-Presenters

None

Degree Level

Undergraduate

Co-Authors

None

Abstract Infomation


Department

Mathematics

Faculty Advisor

Ben Webb

Title

Analyzing Linear Approximations of Robotics Systems.

Abstract

 Engineers at the BYU Robotics and Dynamics Laboratory(RAD LAB) have been experimenting with optimal control algorithms to control new robot designs. Due to the complexity of these robotics systems the computational approach that has been developed is to use a linear approximation of the robots dynamics. The two algorithms that were developed for this purpose are called (i) fixed state and (ii) coupling torque. In the fixed state algorithm, we assume a fixed coupled linear system between each time step. In the coupling torque algorithm, we approximate the coupled terms of this linear system with a constant torque. In order to understand the robustness and utility of these algorithms we have numerically explored a variety of parameters associated with these methods. Specifically, we are experimenting with the perturbations to our system’s dynamics and analyzing their effects on both the fixed state and coupling torque algorithms.