Application of H oo control design techniques to improve dynamics of dexterous manipulation

Jim D. Chapel; Renjeng Su

doi:10.1117/12.25433

1 February 1991 Application of H∞ control design techniques to improve dynamics of dexterous manipulation

Jim D. Chapel, Renjeng Su

Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991) https://doi.org/10.1117/12.25433
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

The applicability of H control design methods to the analysis and design of manipulator impedance control is presented. Direct application of existing H control design algorithms is shown to result in an ill-posed MIMO impedance design problem. A three-part impedance control design methodology is developed and shown to be well-posed. This methodology utilizes FL control design tools to find the controller minimizing the weighted distance measured in the Hcsense between the realized and the specified manipulator impedances. A connection is made between the design of the three parts of the controller and torque-based versus position-based impedance control design. A design example is presented derived using this three-part design methodology. Although the design procedure guarantees the resulting impedance controller will be stable for the design conditions it is shown that the resulting controller may be non-passive even if the desired impedance is passive and the distance between the realized impedance and the desired impedance is small.

Citation Download Citation

Jim D. Chapel and Renjeng Su "Application of H∞ control design techniques to improve dynamics of dexterous manipulation", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); https://doi.org/10.1117/12.25433

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