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 language||English (US)|
|Title of host publication||American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC|
|Editors||R. Shoureshi, K. Youcef-Toumi, H. Kazerooni|
|Number of pages||11|
|State||Published - Dec 1 1987|
ASJC Scopus subject areas
- Mechanical Engineering