Title :
Computational scheme for passivity based control of mechanical manipulators
Author :
Walker, Michael W.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
Abstract :
A computational scheme is presented for the implementation of passivity-based controllers for serial and graph structured manipulators. A special method of incorporating feedback improves the computational efficiency by allowing the designer to base the control on the passivity properties of the entire manipulator. Sufficient conditions are presented to guarantee trajectory tracking of the system. Example controllers and experimental results are presented
Keywords :
control system analysis; feedback; manipulators; position control; computational efficiency; feedback; graph structured manipulators; mechanical manipulators; passivity based control; robots; serial structured manipulators; sufficient conditions; trajectory tracking; Adaptive control; Computational complexity; Feedback; Inverse problems; Lagrangian functions; Manipulator dynamics; Parameter estimation; Robust control; Torque control; Trajectory;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219940
