Title :
Quantitative compliant control
Author :
Lawrence, Dale A. ; Chapel, Jim D.
Author_Institution :
Colorado Univ., Boulder, CO, USA
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;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292028
