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Title: 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}
}

Conference:
Other availability
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