Energy Shaping Control for Robot Manipulators in Explicit Force Regulation Tasks with Elastic Environments
Refereed conference paper presented and published in conference proceedings


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AbstractIn this paper, we analyse and present a control approach using the energy shaping formulation to explicitly regulate the applied force of a robot manipulator in contact with a purely elastic environment. The potential energy of the robot-environment system is shaped in a way that its local equilibrium implies the application of the desired force onto the contact surface. This potential shaping is realised based on the available contact force feedback. Also, it is shown how force feedback can be employed to modulate the amount of energy externally injected by a source subsystem, and with this achieve exact force convergence. Experimental results are presented to validate this approach.
All Author(s) ListNavarro-Alarcon D, Li P, Yip HM
Name of ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
Start Date of Conference25/09/2011
End Date of Conference30/09/2011
Place of ConferenceSan Francisco
Country/Region of ConferenceUnited States of America
Year2011
Month1
Day1
PublisherIEEE
Pages4222 - 4228
eISBN978-1-61284-455-8
ISSN2153-0858
LanguagesEnglish-United Kingdom
Web of Science Subject CategoriesComputer Science; Computer Science, Artificial Intelligence; Computer Science, Information Systems; Engineering; Engineering, Electrical & Electronic; Robotics

Last updated on 2020-24-10 at 01:41