ROBUST CONTROL OF MANIPULATOR INTERACTIVE BEHAVIOR.

J. E. Colgate*, N. Hogan

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Dynamic interaction with the environment is fundamental to the process of manipulation. This paper describes an approach to the design of 'interaction controllers' and contrasts this with an approach to servo design. The need for 'coupled stability' and 'interactive behavior' specifications is motivated. A stability condition for a linear manipulator coupled at a single interaction port to a linear, passive environment is found. It is shown that this condition may be extended to a broad class of active environments, and a simple test for coupled stability, based on root locus, is presented. Two interaction controller designs for a linear manipulator are presented.

Original languageEnglish (US)
Title of host publicationAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
EditorsR. Shoureshi, K. Youcef-Toumi, H. Kazerooni
PublisherASME
Pages149-159
Number of pages11
Volume6
StatePublished - Dec 1 1987

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

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