Fundamental problems of robot control: Part II A nonlinear circuit theory towards an understanding of dexterous motions

摘要

Summary 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.