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

David Navarro Alarcon; Peng Li; Hiu Man Yip

doi:10.1109/IROS.2011.6048286

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 proceeding › Conference article published in proceeding or book › Academic research › peer-review

11 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 language	English
Title of host publication	IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Celebrating 50 Years of Robotics
Pages	4222-4228
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2011.6048286
Publication status	Published - 29 Dec 2011
Externally published	Yes
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States Duration: 25 Sept 2011 → 30 Sept 2011

Conference

Conference	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/Territory	United States
City	San Francisco, CA
Period	25/09/11 → 30/09/11

ASJC Scopus subject areas

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

More information

10.1109/IROS.2011.6048286

Cite this

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title = "Energy shaping control for robot manipulators in explicit force regulation tasks with elastic environments",

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.",

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Navarro Alarcon, D, Li, P & Yip, HM 2011, Energy shaping control for robot manipulators in explicit force regulation tasks with elastic environments. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048286, pp. 4222-4228, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 25/09/11. https://doi.org/10.1109/IROS.2011.6048286

Energy shaping control for robot manipulators in explicit force regulation tasks with elastic environments. / Navarro Alarcon, David; Li, Peng; Yip, Hiu Man.
IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 4222-4228 6048286.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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

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