ROBUST CONTROL OF MANIPULATOR INTERACTIVE BEHAVIOR.

J. E. Colgate; N. Hogan

ROBUST CONTROL OF MANIPULATOR INTERACTIVE BEHAVIOR.

J. E. Colgate^*, N. Hogan

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 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
Publisher	ASME
Pages	149-159
Number of pages	11
Volume	6
State	Published - Dec 1 1987

ASJC Scopus subject areas

Software
Mechanical Engineering

Access to Document

Fingerprint Dive into the research topics of 'ROBUST CONTROL OF MANIPULATOR INTERACTIVE BEHAVIOR.'. Together they form a unique fingerprint.

Cite this

@inproceedings{1bff41c17ab54980a0f163ed102ed488,

title = "ROBUST CONTROL OF MANIPULATOR INTERACTIVE BEHAVIOR.",

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.",

author = "Colgate, {J. E.} and N. Hogan",

year = "1987",

month = dec,

day = "1",

language = "English (US)",

volume = "6",

pages = "149--159",

editor = "R. Shoureshi and K. Youcef-Toumi and H. Kazerooni",

booktitle = "American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC",

publisher = "ASME",

}

TY - GEN

T1 - ROBUST CONTROL OF MANIPULATOR INTERACTIVE BEHAVIOR.

AU - Colgate, J. E.

AU - Hogan, N.

PY - 1987/12/1

Y1 - 1987/12/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0023545833&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0023545833&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0023545833

VL - 6

SP - 149

EP - 159

BT - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC

A2 - Shoureshi, R.

A2 - Youcef-Toumi, K.

A2 - Kazerooni, H.

PB - ASME

ER -