# Building a modular robot control system using passivity and scattering theory

## Abstract

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.

- Authors:

- Publication Date:

- Research Org.:
- Sandia National Labs., Albuquerque, NM (United States)

- Sponsoring Org.:
- USDOE, Washington, DC (United States)

- OSTI Identifier:
- 211586

- Report Number(s):
- SAND-96-0571C; CONF-960448-9

ON: DE96006409

- DOE Contract Number:
- AC04-94AL85000

- Resource Type:
- Conference

- 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

- Subject:
- 42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; ROBOTS; REMOTE CONTROL; COMPUTERIZED CONTROL SYSTEMS; DESIGN; NAVIGATION; MATHEMATICAL MODELS; OPERATION

### Citation Formats

```
Anderson, R J.
```*Building a modular robot control system using passivity and scattering theory*. United States: N. p., 1996.
Web.

```
Anderson, R J.
```*Building a modular robot control system using passivity and scattering theory*. United States.

```
Anderson, R J. Fri .
"Building a modular robot control system using passivity and scattering theory". United States. https://www.osti.gov/servlets/purl/211586.
```

```
@article{osti_211586,
```

title = {Building a modular robot control system using passivity and scattering theory},

author = {Anderson, R J},

abstractNote = {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.},

doi = {},

journal = {},

number = ,

volume = ,

place = {United States},

year = {1996},

month = {3}

}