Stabilization of Robot-Environment Interaction Through Generalized Scattering Techniques

摘要

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.