Paper Info
Title
On The Stability Of Robot Kinesthetic Guidance In The Presence Of Active Constraints
Abstract
The stability of a robot subject to active constraints under the exertion of a human force is analyzed. Artificial potentials that are used to create a barrier on constraint surfaces are revisited and the robot's stability in the presence of active constraints is examined in terms of output passivity and state boundedness. It is shown that under input forces of finite energy the state is bounded and hence the motion is confined within the constraint region. However, the quality of response depends on the type of input and may include undesirable transients for physical human robot interaction (pHRI) applications.
Year
DOI
Venue
2018
10.23919/ECC.2018.8550131
2018 EUROPEAN CONTROL CONFERENCE (ECC)
Field
DocType
Citations 
Passivity,Kinesthetic learning,Task analysis,Control theory,Computer science,Exponential stability,Aerospace electronics,Robot,Human–robot interaction,Bounded function
Conference
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Theodora Kastritsi112.09
Dimitrios G. Papageorgiou2316.93
Zoe Doulgeri333247.11