DocumentCode
1037897
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
Volume
14
Issue
2
fYear
1994
fDate
4/1/1994 12:00:00 AM
Firstpage
14
Lastpage
25
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;
fLanguage
English
Journal_Title
Control Systems, IEEE
Publisher
ieee
ISSN
1066-033X
Type
jour
DOI
10.1109/37.272776
Filename
272776
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