1. Stabilization of Robot-Environment Interaction Through Generalized Scattering Techniques
- Author
-
Anastasiia A. Usova, Kanstantsin A. Pachkouski, Ilia G. Polushin, and Rajni V. Patel
- Subjects
0209 industrial biotechnology ,Computer science ,business.industry ,Stability (learning theory) ,Robotics ,02 engineering and technology ,Action (physics) ,Computer Science Applications ,Computer Science::Robotics ,020901 industrial engineering & automation ,Quadratic equation ,Control and Systems Engineering ,Conic section ,Control theory ,Trajectory ,Dissipative system ,Robot ,Artificial intelligence ,Electrical and Electronic Engineering ,business - Abstract
A control design framework for the coupled stability problem in robotics is presented. The proposed framework fundamentally generalizes the conventional passivity-based approaches to the coupled stability problem. In particular, it allows for stabilization of not necessarily passive robot-environment interaction where both the manipulator and the environment are dissipative systems with quadratic supply rates. In contrast with existing results, the proposed framework can be used in combination with an arbitrary robot’s tracking control algorithm, and its stabilizing action when in contact with environment does not affect the robot’s trajectory tracking performance in free space. The framework is based on the recently developed nonplanar conic systems formalism and generalized scattering-based stabilization methods. A detailed design example is presented which illustrates the capabilities of the proposed method.
- Published
- 2022