PID controller design for the human arm-robot manipulator coordination problem

This paper discusses a PID controller design for the human arm-robot manipulator coordination problem in unstructured workspace. The problem has attracted attention among the robotic community and several approaches to the solution of the problem have been proposed. In this study we discuss the problem in a framework of the Hermite-Biehler theorem. The theorem has been used to analyze the stability of polynomials defined over a set of real numbers. We analyze the stability of the closed-loop characteristic polynomial and present an algorithm leading to the design of a PID controller for the problem.