Passivity-based control of robotic manipulators for safe cooperation with humans

DOI10.1080/00207179.2014.956338MaRDI QIDQ5265922zbMATH OpenOpenAlexFDO

Authors Andrea Maria Zanchettin, Bakir Lacevic, Paolo Rocco

Publication date 29 July 2015

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2014.956338

zbMATH Keywords

Lyapunov stabilityrobot controlindustrial robots

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Adaptive motion control of robot manipulators: A unified approach based on passivity
• A novel path planning and control framework for passive resistance therapy with a robot manipulator
• Independent force and position control for cooperating manipulators handling an unknown object and interacting with an unknown environment
• scientific article; zbMATH DE number 6132695
• Robot impedance control and passivity analysis with inner torque and velocity feedback loops

Cites work

• A New Feedback Method for Dynamic Control of Manipulators
• Compliant motion control for robot manipulators
• Human-robot collaboration in precise positioning of a three-dimensional object
• Impedance Control: An Approach to Manipulation: Part III—Applications
• Passivity-based control for bilateral teleoperation: a tutorial
• Robot navigation functions on manifolds with boundary
• Safe planning for human-robot interaction

Cited in

(5)

• Robust impedance control of robot manipulators using differential equations as universal approximator
• Safe link mechanism based on nonlinear stiffness for collision safety
• A novel path planning and control framework for passive resistance therapy with a robot manipulator
• A force/position controller free of velocity measurement for robot manipulators with bounded torque input
• Virtual adjustable joint stiffness toward a safer human/robot interaction

This page was built for publication: Passivity-based control of robotic manipulators for safe cooperation with humans

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5265922)