Building a modular robot control system using passivity and scattering theory
This paper analyses the problems and presents solutions for building a modular robot control system. The approach requires modeling the entire robot system using multi-dimensional passive networks, breaking the system into subnetwork ``modules,`` and then discretizing the subnetworks, or n-ports, in a passivity preserving fashion. The main difficulty is the existence of ``algebraic loops`` in the discretized system. This problem is overcome by the use of scattering theory, whereby the inputs and outputs of the n-ports are mapped into wave variables before being discretized. By first segmenting the n-ports into nonlinear memoryless subnetworks and linear dynamic subnetworks and then discretizing using passivity preserving techniques such as Tustin`s method, a complete modular robot control solution is obtained.
- Research Organization:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 211586
- Report Number(s):
- SAND-96-0571C; CONF-960448-9; ON: DE96006409
- Resource Relation:
- Conference: IEEE international conference on robotics and automation, Minneapolis, MN (United States), 22-28 Apr 1996; Other Information: PBD: [1996]
- Country of Publication:
- United States
- Language:
- English
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