Stabilization of Robot-Environment Interaction Through Generalized Scattering Techniques

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-environmen...

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Bibliographic Details
Published in:IEEE transactions on robotics 2022-04, Vol.38 (2), p.1319-1333
Main Authors: Usova, Anastasiia A., Pachkouski, Kanstantsin A., Polushin, Ilia G., Patel, Rajni V.
Format: Article
Language:English
Subjects:
Algorithms
Control algorithms
Control theory
Coupled stability
Dynamics
Eigenvalues and eigenfunctions
Force
force control
interaction control
Manipulator dynamics
motion control
Robot arms
Robot control
Robotics
Robots
Scattering
Stability criteria
Stabilization
Tracking control
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Summary: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.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2021.3107231