DocumentCode
348799
Title
A μ-synthesis based control for compliant manoeuvres
Author
Uchimura, Yutaka ; Kazerooni, H.
Author_Institution
Kajima Tech. Res. Inst., Tokyo, Japan
Volume
4
fYear
1999
fDate
1999
Firstpage
1014
Abstract
This paper presents a controller design based on μ synthesis for compliant manoeuvres, which enables a robust force feedback without using a force sensor. The controller maintains robust stability against uncertainties existing in both environment and human dynamics, which contributes to dexterous manipulation. The controller is implemented on the human power extender which is worn by a human and amplifies the human´s physical strength, while the human´s intelligence remains as the central control system for manipulation
Keywords
control system synthesis; dexterous manipulators; force feedback; motion control; robust control; compliant manoeuvres; dexterous manipulation; human dynamics; human power extender; mu synthesis based control; robust force feedback; robust stability; uncertainty; Centralized control; Control systems; Force control; Force feedback; Force sensors; Humans; Manipulator dynamics; Robust control; Robust stability; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location
Tokyo
ISSN
1062-922X
Print_ISBN
0-7803-5731-0
Type
conf
DOI
10.1109/ICSMC.1999.812549
Filename
812549
Link To Document