Passive Compensation of Nonlinear Robot Dynamics

Vincent Duindam, Stefano Stramigioli, Jacquelien Scherpen

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    Many robot applications demand a robot to interact with an environment that is not exactly known beforehand. In these situations, the controller should be careful not to make the robot unstable, i.e. keep its kinetic energy bounded.
    One way to accomplish this is to use a form of impedance control (introduced by Hogan [1]): the control torques are taken equal to the gradient of an (artificial) potential field with the minimum at the desired position. Thus, the controller mimics a spring connected between the robot and the desired position. The kinetic energy of the robot is determined by the potential field, and if this field has a global minimum, the kinetic energy is bounded.
    Original languageEnglish
    Title of host publication21st Benelux Meeting on Systems and Control, March 19 – 21, 2002, Veldhoven, The Netherlands
    Subtitle of host publicationBook of Abstracts
    EditorsBram de Jager, Hans Zwart
    Place of PublicationEindhoven
    PublisherTechnische Universiteit Eindhoven
    Number of pages1
    ISBN (Print)90-386-2893-5
    Publication statusPublished - 19 Mar 2002
    Event21st Benelux Meeting on Systems and Control 2002 - Veldhoven, Netherlands
    Duration: 19 Mar 200221 Mar 2002
    Conference number: 21


    Conference21st Benelux Meeting on Systems and Control 2002


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