Title :
Quantitative control of manipulator/task interaction
Author :
Lawrence, Dale A. ; Chapel, Jim I.
Author_Institution :
Dept. of Aerosp. Eng. Sci., Colorado Univ., Boulder, CO, USA
fDate :
4/1/1994 12:00:00 AM
Abstract :
An architecture-independent analysis approach is described for evaluation of control systems designed to provide compliant manipulator/task interaction. Two issues are highlighted: a new safety bound which provides an explicit, quantitative design objective; and an examination of typical task dynamics and their impact on the difficulty (complexity) of control design. Two examples of control design within this framework are presented, demonstrating the need to consider safety bounds of the type proposed.<>
Keywords :
compliance control; control system analysis; control system synthesis; manipulators; safety; stability; architecture-independent analysis; control systems; manipulator/task interaction; quantitative control; safety bound; task dynamics; Control design; Control systems; Costs; Design methodology; Hardware; Manipulator dynamics; Performance analysis; Stability analysis; System analysis and design; Zirconium;
Journal_Title :
Control Systems, IEEE
