Stability and robustness analysis of a two layered hierarchical architecture for the closed loop control of robots in the operational space

Author

Aicardi, Michele ; Caiti, Andrea ; Cannata, Giorgio ; Casalino, Giuseppe

Author_Institution

DIST, Genoa Univ., Italy

Volume

3

fYear

1995

fDate

21-27 May 1995

Firstpage

2771

Abstract

A two layered hierarchical architecture is considered as the fundamental scheme for the closed loop control of robots in operational space. By considering different kinds of information transfer from the outer to the inner controllers, it is shown that the architecture can take into account a wide class of control schemes, then the analysis of their stability and robustness properties can be performed in a unified framework. Then on this basis some general results concerning such properties are given

Keywords

closed loop systems; hierarchical systems; robots; robust control; closed loop control; information transfer; inner controllers; outer controllers; robots; robustness analysis; stability analysis; two layered hierarchical architecture; Automatic control; Motion control; Orbital robotics; Performance analysis; Robot control; Robot kinematics; Robotics and automation; Robust control; Robust stability; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.526005

Filename

526005