FUNDAMENTAL PROBLEMS OF ROBOT CONTROL .2. A NONLINEAR CIRCUIT-THEORY TOWARDS AN UNDERSTANDING OF DEXTEROUS MOTIONS

被引：22

作者：

ARIMOTO, S

机构：

[1] University of Tokyo, Bunkyo-ku

来源：

ROBOTICA | 1995年 / 13卷

关键词：

DEXTEROUS MOTIONS; PASSIVITY; NONLINEAR CIRCUIT THEORY; HYPER-STABLE BLOCKS; INTELLIGENT ROBOTS;

D O I：

10.1017/S0263574700017616

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Part II continues to develop a hyper-stability framework for presenting physical interpretations of dexterous motion controls, such as hybrid position/force, impedance, model-based adaptive, learning control and coordination. In all cases passivity induced by introduction of a quasi-natural potential plays a key role. In view of these considerations, the final section discusses the possibility of development of a nonlinear circuit theory based on feedback connections of hyper-stable blocks, which may give rise to a physical understanding of dexterous and skilled motions for nonlinear mechanical systems and, eventually lead to the design of intelligent functions implementable in robotic machines.

引用

页码：111 / 122

页数：12

共 36 条

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