Abstract
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.
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 language | English |
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| Title of host publication | 21st Benelux Meeting on Systems and Control, March 19 – 21, 2002, Veldhoven, The Netherlands |
| Subtitle of host publication | Book of Abstracts |
| Editors | Bram de Jager, Hans Zwart |
| Place of Publication | Eindhoven |
| Publisher | Technische Universiteit Eindhoven |
| Pages | 20-20 |
| Number of pages | 1 |
| ISBN (Print) | 90-386-2893-5 |
| Publication status | Published - 19 Mar 2002 |
| Event | 21st Benelux Meeting on Systems and Control 2002 - Veldhoven, Netherlands Duration: 19 Mar 2002 → 21 Mar 2002 Conference number: 21 |
Conference
| Conference | 21st Benelux Meeting on Systems and Control 2002 |
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| Country/Territory | Netherlands |
| City | Veldhoven |
| Period | 19/03/02 → 21/03/02 |