Event
Proposes a method for simultaneous force and motion control in generalized coordinates
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A paper submitted to arXiv by Jon Woolfrey proposes using Gauss's principle of least constraint to formulate simultaneous force and motion control of a robotic manipulator as a quadratic programming problem in generalized coordinates (joint space), allowing inequality constraints such as joint limits, collision avoidance, and singularity avoidance to be incorporated directly into the solve. The paper states that it was simulated in MuJoCo and compared with an operational-space method; results show that the method can simultaneously maintain the desired contact force, reduce trajectory tracking error, and satisfy inequality constraints. The paper is 8 pages with 5 figures and has been submitted to IEEE ICRA 2027.
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- Simultaneous Force and Motion Control of Robot Manipulators in Generalized Coordinates
An arXiv paper proposes using Gauss's principle of least constraint to formulate simultaneous force and motion control of a robot manipulator as a quadratic programming (QP) problem in generalized coordinates (joint space), so that inequality constraints such as joint limits, collision avoidance, and singularity avoidance can be incorporated directly into the solution. Simulations were run in MuJoCo and compared with an operational-space (task-space) method; the results show that the method can simultaneously maintain the desired contact force, reduce trajectory tracking error, and satisfy the inequality constraints. The paper is 8 pages with 5 figures and has been submitted to IEEE ICRA 2027.
arXiv cs.RO ·