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TECHNICAL PAPERS

A μ-Synthesis Based Control for Compliant Maneuvers

[+] Author and Article Information
Yutaka Uchimura

 Kajima Technical Research Institute, Tobitakyu, Chofu-shi, Tokyo 182, Japanyuchi@kajima.com

H. Kazerooni

Mechanical Engineering Department, University of California at Berkeley, Berkeley, CA 94720kazerooni@berkeley.edu

J. Dyn. Sys., Meas., Control 128(4), 914-921 (Apr 12, 2006) (8 pages) doi:10.1115/1.2362810 History: Received February 01, 2004; Revised April 12, 2006

This paper deals with a system, which is subjected to very uncertain factors: human and environment. These independent uncertainties are dealt with explicitly on the framework of μ-synthesis. We also describe a controller design, which enables a robust force feedback without using a force sensor. The model of human dynamics, environments, and actuators are modeled associated with uncertainties described in the form of weighting functions. A controller is designed based on the μ-synthesis so that it maintains robust performance against uncertainties in both environment and human dynamics, which contributes to dexterous manipulation. The controller described here is implemented on the human power extender, which is worn by a human and amplifies the human’s physical strength, while the human’s intelligence remains as the central control system for manipulation. Experimental results conducted on the extender showed that the force estimation worked fine and the control system performed as desired.

Copyright © 2006 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

The overall block diagram for the extender

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Figure 2

Framework for μ based control design

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Figure 3

Human experiment overview

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Figure 4

Experimental results on human arm

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Figure 5

Frequency response of the nominal model

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Figure 6

Dynamics of a link

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Figure 7

Force servo control system

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Figure 8

External force estimation via dead zone

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Figure 9

Input signal for identification

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Figure 10

Experimental configuration

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Figure 11

Estimation results

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Figure 12

Block diagram with weighting functions

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Figure 13

Gain plot of the weighting function Wt(s)

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Figure 14

Gain plot of the weighting function Wpf(s)

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Figure 15

Upper and lower bounds of μ

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Figure 16

Bode plot of the reduced order controller

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Figure 17

μ plot with the reduced order controller

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Figure 18

The prototype extender

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Figure 19

Human/estimated force (spring)

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Figure 20

Estimated/measured force (spring)

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Figure 21

Human/estimated force (wire)

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Figure 22

Estimated/measured force (wire)

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