2,716 research outputs found
A family of asymptotically stable control laws for flexible robots based on a passivity approach
A general family of asymptotically stabilizing control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems and the Passivity Theorem are used to show the closed-loop input/output stability which is then related to the internal state space stability through the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible joint robots, and robots with link flexibility
Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification
In this paper, we present experimental studies on a cooperative control
system for human-robotic networks with inter-robot communication delays. We
first design a cooperative controller to be implemented on each robot so that
their motion are synchronized to a reference motion desired by a human
operator, and then point out that each robot motion ensures passivity.
Inter-robot communication channels are then designed via so-called scattering
transformation which is a technique to passify the delayed channel. The
resulting robotic network is then connected with human operator based on
passivity theory. In order to demonstrate the present control architecture, we
build an experimental testbed consisting of multiple robots and a tablet. In
particular, we analyze the effects of the communication delays on the human
operator's behavior
A passivity based control methodology for flexible joint robots with application to a simplified shuttle RMS arm
The main goal is to develop a general theory for the control of flexible robots, including flexible joint robots, flexible link robots, rigid bodies with flexible appendages, etc. As part of the validation, the theory is applied to the control law development for a test example which consists of a three-link arm modeled after the shoulder yaw joint of the space shuttle remote manipulator system (RMS). The performance of the closed loop control system is then compared with the performance of the existing RMS controller to demonstrate the effectiveness of the proposed approach. The theoretical foundation of this new approach to the control of flexible robots is presented and its efficacy is demonstrated through simulation results on the three-link test arm
An Indirect Adaptive Control Approach to Image Based Visual Servoing for Translational Trajectory Tracking
publishedVersio
Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators
This paper proposes a decentralized passive impedance control scheme for
collaborative grasping using under-actuated aerial manipulators (AMs). The AM
system is formulated, using a proper coordinate transformation, as an
inertially decoupled dynamics with which a passivity-based control design is
conducted. Since the interaction for grasping can be interpreted as a feedback
interconnection of passive systems, an arbitrary number of AMs can be modularly
combined, leading to a decentralized control scheme. Another interesting
consequence of the passivity property is that the AMs automatically converge to
a certain configuration to accomplish the grasping. Collaborative grasping
using 10 AMs is presented in simulation.Comment: IEEE International Conference on Robotics and Automation (ICRA) 202
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