Name
Title | ||
|---|---|---|
A passivity based control signal guaranteeing joint limit avoidance in redundant robots |
Abstract | ||
|---|---|---|
In this work we propose a torque control signal that guarantees joint limit avoidance of a redundant arm. Its design is based on the prescribed performance control methodology that enables guarantees on the satisfaction of inequality constraints regarding the system output. It is proved that the proposed signal preserves the passivity of closed loop robot dynamics with respect to joint velocities thus allowing its use with any passive control law designed to attract the robot towards a task goal. Experimental results with a KUKA LWR4+ for a task involving the tip's position motion along a linear path confirm theoretical findings and demonstrate the proposed signal's performance in two scenarios of a feasible and an unfeasible path. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/MED.2016.7535862 | 2016 24th Mediterranean Conference on Control and Automation (MED) |
Keywords | Field | DocType |
passivity based control signal,joint limit avoidance,redundant robots,torque control signal,redundant arm,inequality constraint satisfaction,closed loop robot dynamics,KUKA LWR4+,tip position motion | Passivity,Performance control,Torque,Control theory,Computer science,Passive control,Control engineering,Robot | Conference |
ISSN | ISBN | Citations |
2325-369X | 978-1-4673-8347-9 | 0 |
PageRank | References | Authors |
0.34 | 17 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dimitrios G. Papageorgiou | 1 | 31 | 6.93 |
| Abdelrahem Atawnih | 2 | 19 | 1.94 |
| Zoe Doulgeri | 3 | 332 | 47.11 |