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 -