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Robustness of multiple-limb manipulation systems

机译：多臂操纵系统的坚固性

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摘要

The characteristic that multiple-limb manipulation systems can resist disturbance exter- nal forces without relying on the feedback control of joint torques, called therobustness, has been ad- dressed by several researchers. Based on their results, a further study of robustness is presented in this paper. By decomposing the space of external forces into two subspaces, the necessary and suffi- cient condition for a system to have robustness is given and a definition of robustness which is applica- ble to any multiple-limb systems is also proposed.
机译：多臂操纵系统可以不依赖关节扭矩的反馈控制而抵抗干扰外部力的特性（称为鲁棒性）已经被一些研究人员提出。基于他们的结果，本文提出了对鲁棒性的进一步研究。通过将外力的空间分解为两个子空间，给出了系统具有鲁棒性的必要和充分条件，并提出了适用于任何多分支系统的鲁棒性定义。

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