On passive velocity field control of robot arms

Javier Moreno-Valenzuela

doi:10.1109/cdc.2006.377393

On passive velocity field control of robot arms

Javier Moreno-Valenzuela

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

15 Scopus citations

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.

Original language	English
Title of host publication	Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2955-2960
Number of pages	6
ISBN (Print)	1424401712, 9781424401710
DOIs	https://doi.org/10.1109/cdc.2006.377393
State	Published - 2006
Externally published	Yes
Event	45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States Duration: 13 Dec 2006 → 15 Dec 2006

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	45th IEEE Conference on Decision and Control 2006, CDC
Country/Territory	United States
City	San Diego, CA
Period	13/12/06 → 15/12/06

Access to Document

10.1109/cdc.2006.377393

Cite this

@inproceedings{9b0fdcfb688141c9a2404a88d6675eac,

title = "On passive velocity field control of robot arms",

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.",

author = "Javier Moreno-Valenzuela",

year = "2006",

doi = "10.1109/cdc.2006.377393",

language = "Ingl{\'e}s",

isbn = "1424401712",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2955--2960",

booktitle = "Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC",

address = "Estados Unidos",

note = "45th IEEE Conference on Decision and Control 2006, CDC ; Conference date: 13-12-2006 Through 15-12-2006",

}

Moreno-Valenzuela, J 2006, On passive velocity field control of robot arms. in Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC., 4177764, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 2955-2960, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 13/12/06. https://doi.org/10.1109/cdc.2006.377393

On passive velocity field control of robot arms. / Moreno-Valenzuela, Javier.
Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc., 2006. p. 2955-2960 4177764 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - On passive velocity field control of robot arms

AU - Moreno-Valenzuela, Javier

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=39649104777&partnerID=8YFLogxK

U2 - 10.1109/cdc.2006.377393

DO - 10.1109/cdc.2006.377393

M3 - Contribución a la conferencia

AN - SCOPUS:39649104777

SN - 1424401712

SN - 9781424401710

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 2955

EP - 2960

BT - Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 45th IEEE Conference on Decision and Control 2006, CDC

Y2 - 13 December 2006 through 15 December 2006

ER -

On passive velocity field control of robot arms

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this