A general approach for manipulator system specification, design, and validation

An approach to the development of a comprehensive design process for manipulator systems is described, with a focus on the issue of generating unambiguous dynamic performance requirements from task functional requirements and validation of closed-loop system performance. The key elements of the design process are discussed, along with suggested initial directions for demonstrating the feasibility of this approach. The key to this methodology is the development of a complete set of meaningful performance requirements, and the introduction of end-effector impedance as an expression of dynamic performance