Passive velocity field control of mechanical manipulators

Perry Y. Li, Roberto Horowitz

Research output: Contribution to journalArticlepeer-review

30 Scopus citations

Abstract

Two concepts for the task specification and control for mechanical manipulators are advocated: 1) the coding of tasks in terms of velocity fields, and 2) controllers that maintain the passivity relationship between the manipulator and its physical environment. A passive velocity field tracking controller is proposed. The proposed dynamic controller mimics a flywheel: it stores and releases energy to the manipulator, but does not generate any. The controller has the interesting property that it stabilizes any multiple (positive or negative) of the desired velocity field, and exponentially stabilizes the particular multiple which is related to the total kinetic energy of the manipulator + controller.

Original languageEnglish (US)
Pages (from-to)2764-2770
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - Jan 1 1995

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