On passive velocity field control of robot arms

Research output: Contribution to conferencePaper

14 Citations (Scopus)

Abstract

In the passive velocity field control the interaction between a robot arm and its physical environment is passive. If physical interaction is not presented the mechanical system moves along the integral curves of a desired velocity field with speed proportional to the initial stored energy of the robot. Motivated by Lyapunov's direct method, this paper extends the results in [2] by presenting a class of controllers which solves the passive velocity field control objective. An important characteristic of the proposed approach is the shaping of the total kinetic and potential energy of the closed-loop system dynamics. Besides, the problem of pure velocity field control is also considered, which consists in the following of the integral curves of a desired velocity field with speed proportional to a user-defined constant. © 2006 IEEE.
Original languageAmerican English
Pages2955-2960
Number of pages2658
StatePublished - 1 Dec 2006
Externally publishedYes
EventProceedings of the IEEE Conference on Decision and Control -
Duration: 8 Feb 2015 → …

Conference

ConferenceProceedings of the IEEE Conference on Decision and Control
Period8/02/15 → …

Fingerprint

robot arms
velocity distribution
Robots
curves
Potential energy
feedback control
robots
Closed loop systems
Kinetic energy
controllers
kinetic energy
potential energy
interactions
Controllers

Cite this

Moreno-Valenzuela, J. (2006). On passive velocity field control of robot arms. 2955-2960. Paper presented at Proceedings of the IEEE Conference on Decision and Control, .
Moreno-Valenzuela, Javier. / On passive velocity field control of robot arms. Paper presented at Proceedings of the IEEE Conference on Decision and Control, .2658 p.
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Moreno-Valenzuela, J 2006, 'On passive velocity field control of robot arms', Paper presented at Proceedings of the IEEE Conference on Decision and Control, 8/02/15 pp. 2955-2960.

On passive velocity field control of robot arms. / Moreno-Valenzuela, Javier.

2006. 2955-2960 Paper presented at Proceedings of the IEEE Conference on Decision and Control, .

Research output: Contribution to conferencePaper

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Moreno-Valenzuela J. On passive velocity field control of robot arms. 2006. Paper presented at Proceedings of the IEEE Conference on Decision and Control, .