Application of H∞ control design techniques to improve dynamics of dexterous manipulation

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Abstract
The applicability of H control design methods to the analysis and design of manipulator impedance control is presented. Direct application of existing H control design algorithms is shown to result in an ill-posed MIMO impedance design problem. A three-part impedance control design methodology is developed and shown to be well-posed. This methodology utilizes FL control design tools to find the controller minimizing the weighted distance measured in the Hcsense between the realized and the specified manipulator impedances. A connection is made between the design of the three parts of the controller and torque-based versus position-based impedance control design. A design example is presented derived using this three-part design methodology. Although the design procedure guarantees the resulting impedance controller will be stable for the design conditions it is shown that the resulting controller may be non-passive even if the desired impedance is passive and the distance between the realized impedance and the desired impedance is small.
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