Building a modular robot control system using passivity and scattering theory

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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 ... continued below

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8 p.

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Anderson, R.J. March 1, 1996.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

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.

Physical Description

8 p.

Notes

OSTI as DE96006409

Source

  • IEEE international conference on robotics and automation, Minneapolis, MN (United States), 22-28 Apr 1996

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  • Other: DE96006409
  • Report No.: SAND--96-0571C
  • Report No.: CONF-960448--9
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 211586
  • Archival Resource Key: ark:/67531/metadc670507

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • March 1, 1996

Added to The UNT Digital Library

  • June 29, 2015, 9:42 p.m.

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  • April 13, 2016, 1:01 p.m.

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Anderson, R.J. Building a modular robot control system using passivity and scattering theory, article, March 1, 1996; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc670507/: accessed November 22, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.