DocumentCode
1864958
Title
Quantitative compliant control
Author
Lawrence, Dale A. ; Chapel, Jim D.
Author_Institution
Colorado Univ., Boulder, CO, USA
fYear
1993
fDate
2-6 May 1993
Firstpage
497
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 safety bound that 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
control system analysis; control system synthesis; force control; position control; robots; architecture-independent analysis; complexity; compliant manipulator/task interaction; control design; control systems evaluation; quantitative compliant control; quantitative design objective; safety bound; safety bounds; task dynamics; Control design; Control systems; Costs; Force control; Frequency; Hardware; Impedance; Manipulator dynamics; Performance analysis; Safety;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.292028
Filename
292028
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