Generating a State-Space Formulation of a Class of Telemanipulator

نویسندگان

  • Jake J. Abbott
  • Allison M. Okamura
چکیده

Telemanipulators are commonly represented as twoport networks or block diagrams consisting of transfer functions. These representations describe a large set of systems, but stability results generally come from conservative passivity methods. In this paper we present a method for numerically generating a state-space formulation for a class of telemanipulator consisting of any combination of PD, velocity feedback, and force feedforward control. We present algorithms for generating both continuous and discrete models. Both models result in linear state-space forms, so the eigenvalues can be used to simultaneously analyze internal stability, bounded-input/bounded-output stability, and transient behavior. We address robustness issues associated with using a state-space representation.

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تاریخ انتشار 2003