Energy shaping control for robot manipulators in explicit force regulation tasks with elastic environments

David Navarro Alarcon, Peng Li, Hiu Man Yip

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

8 Citations (Scopus)

Abstract

In this paper, we analyse and present a control approach using the energy shaping formulation to explicitly regulate the applied force of a robot manipulator in contact with a purely elastic environment. The potential energy of the robot-environment system is shaped in a way that its local equilibrium implies the application of the desired force onto the contact surface. This potential shaping is realised based on the available contact force feedback. Also, it is shown how force feedback can be employed to modulate the amount of energy externally injected by a source subsystem, and with this achieve exact force convergence. Experimental results are presented to validate this approach.
Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages4222-4228
Number of pages7
DOIs
Publication statusPublished - 29 Dec 2011
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 25 Sep 201130 Sep 2011

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period25/09/1130/09/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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