Humanoids2020 - workshop on floating-base robots in operations and logistics operations
Workshop homepage: [ Ссылка ]
Jun Ueda personal webpage: [ Ссылка ]
Michael LiBretto, personal webpage: [ Ссылка ]
Abstract of the talk:
The work shown in this presentation introduces an analytical illustration of the normalized coprime factor (NCF) stability margin, common in H∞control, as applied to flexible-base manipulators.This metric can be used to describe the stability of such robots for a particular posture without necessitating the design of an exact controller. This enables the use of simple task-spacefeedback control without explicitly modeling the flexibility of the robot’s base. Two proofs are included: the first being the definition of the NCF stability margin for the class of all rigid(double-integrator) systems, and the second presenting a special case wherein the rigid and flexible modes are simultaneously diagonalizable. Lastly numerical examples are presented that illustrate the efficacy of using the NCF stability marginto determine stability of a flexible-base robotic system.
