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We introduce a task oriented optimal controller based on the finite horizon quadratic regulator (LQR). The task of being at a specified position with a specified velocity in specified time is formalized by cost functions. Moreover, we include soft constraints which are part of the cost function, such that the optimal control can be computed in fixed time. We show how soft constraints help to use redundancy...
We developed a task-oriented controller based on optimal finite horizon control. We demonstrate this on a flexible ball playing robot with redundant degrees of freedom. The task is to reach a specified Cartesian position and velocity of the bat at a specified time, in order to rebound the ball. The controller must maintain high accuracy and react to disturbances and changing conditions. Therefore,...
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