Discrete-Time Stability Analysis of a Control Architecture for Heterogeneous Robotic Systems

被引：0

作者：

Bjerkeng, Magnus ^{[1
]}

Falco, Pietro ^{[2
]}

Natale, Ciro ^{[2
]}

Pettersen, Kristin Y. ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, NO-7491 Trondheim, Norway

[2] Univ Naples 2, Dipartimento Ingn Informat, I-81031 Naples, Italy

来源：

2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2013年

关键词：

MOTION CONTROL; MANIPULATORS; REDUNDANCY; TUTORIAL; SPACE;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The aim of this paper is to investigate the discrete-time stability of robot motion control in the task space. The control system has been modeled as a classical inner-loop/outer-loop architecture, adopted in several industrial robotic systems. The inner-loop is composed of a servo-level joint controller, and higher level kinematic feedback is performed in the outer-loop. Heterogeneous dynamics is considered in the inner-loop, which can for instance describe redundant coordination/synchronization control systems with cooperative robots with non-identical dynamical responses. There are surprisingly few discrete-time stability results in the current state-of-the-art for this popular control architecture. The qualitative effects of the inner-loop dynamics on the overall stability of the system is investigated, and improved outer-loop feedback gain margins are derived.

引用

页码：4778 / 4783

页数：6

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