Title :
Performance robustness of manipulator collision controller
Author :
Lee, Sukhan ; Chiu, David
Author_Institution :
Dept. of CS & EE Syst., Univ. of Southern California, Los Angeles, CA, USA
Abstract :
We propose that the manipulator impact control problem be approached from a stochastic optimal control perspective. The reason is that not only is such an approach able to model uncertainties in contact environment, force sensing, as well as manipulator dynamics, the controller obtained is optimally robust in terms of performance. This result is verified by analyses and simulations
Keywords :
force control; manipulator dynamics; motion control; optimal control; robust control; stochastic systems; velocity control; contact environment; force sensing; impact control problem; manipulator collision controller; manipulator dynamics; performance robustness; stochastic optimal control; Cost function; Delay; Force control; Force sensors; Manipulator dynamics; Optimal control; Robust control; Stochastic processes; Uncertainty; Velocity control;
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
DOI :
10.1109/IROS.1996.570859
