By Topic

Passive velocity field control of mechanical manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Li, P.Y. ; Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA ; Horowitz, R.

Two concepts are advocated for the task specification and control of mechanical manipulators: 1) coding tasks in terms of velocity fields; 2) designing controllers so that the manipulator when under feedback control, interacts in an energetically passive manner with its physical environment. Based on these two concepts, a new passive velocity field controller is proposed which mimics the behavior of a passive energy storage element, such as a flywheel or a spring. It stores and releases energy while interacting with the manipulator, but does not generate any. The controller has the interesting property that it stabilizes any multiple (positive or negative) of the desired velocity field, and exponentially stabilizes the particular multiple of the desired velocity field which is determined by the total kinetic energy of the manipulator control system

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:15 ,  Issue: 4 )