BYU

Abstract by Brooke Mosby

Personal Infomation


Presenter's Name

Brooke Mosby

Co-Presenters

None

Degree Level

Undergraduate

Co-Authors

None

Abstract Infomation


Department

Mathematics

Faculty Advisor

Ben Webb

Title

lLinearization Approximations for Robotics Control

Abstract

The design of complicated robots and their application to difficult tasks has generated a need for more sophisticated control algorithms. To simplify and reduce computation time the equations used to model robot motion are modelled by linear system approximations. A common linear approximation is the "Fixed-State approximation", which assumes fixed dynamics between time steps. Although Fixed-State is commonly used, it is expensive to run. A relatively new linearization method, called Coupling-Torque, presents promise in the field of robotics controls. Coupling-Torque assumes that forces imposed from one joint on to another, i.e. coupling terms, are constant between time-steps. This assumption produces equations of motion with variable independence, which uniquely allows for the computations to be parallelized. We are currently analyzing the extent to which coupling terms in the dynamics matrix can be assumed constant, before Coupling-Torque's approximations are completely compromised.  This has the potential to significantly reduce computational time and provide and algorithms for modeling  the motion of more intricate robots with many joints.