Zero-Potential-Energy Motions due to Stiffness in Impedance Control of Robotic Tasks: an Innovative Theory and Experimental Study

2021 ◽  
Author(s):  
Carlos Saldarriaga ◽  
Imin Kao
Keyword(s):  
Experimental Study ◽  
Potential Energy ◽  
Impedance Control ◽  
Zero Potential ◽  
Robotic Tasks

An Experimental Study on Cartesian Impedance Control for a Joint Torque-Based Manipulator

2008 ◽  
Vol 22 (11) ◽  
pp. 1155-1180 ◽  
Author(s):  
Hong Liu ◽  
Ye-chao Liu ◽  
Minghe Jin ◽  
K. Sun ◽  
J. B. Huang
Keyword(s):  
Experimental Study ◽  
Impedance Control ◽  
Joint Torque

scholarly journals Modelling and control of an omnidirectional mobile manipulator

2012 ◽  
Vol 22 (3) ◽  
pp. 601-616 ◽  
Author(s):  
Salima Djebrani ◽  
Abderraouf Benali ◽  
Foudil Abdessemed
Keyword(s):  
Impedance Control ◽  
Linearization Method ◽  
Mobile Manipulator ◽  
Input State ◽  
Nonlinear Controller ◽  
Individual Agent ◽  
Dynamical Interaction ◽  
New Approach ◽  
And Control ◽  
Robotic Tasks

AbstractA new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic vehicle. The vehicle is equipped with three driven axles with two spherical orthogonal wheels. Taking into account the dynamical interaction between the base and the manipulator, one can define the dynamics of the mobile manipulator and design a nonlinear controller using the input-state linearization method. The control structure of the robot is built in order to demonstrate the main capabilities regarding navigation and obstacle avoidance. Several simulations were conducted to prove the effectiveness of this approach.

Flat supergravity potentials with non-zero potential energy due to D-terms

1985 ◽  
Vol 150 (5) ◽  
pp. 357-359 ◽  
Author(s):  
J. Mc Donald ◽  
C.E. Vayonakis
Keyword(s):  
Potential Energy ◽  
Zero Potential
Sign in / Sign up

Export Citation Format

Share Document