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This paper presents an interconnection and damping assignment passivity based control (IDA-PBC) for the position and impedance control of flexible joint robot. In considering of the joint damping and with some simplification of friction, a flexible joint robot system is descripted as an port-controlled Hamiltonian system with dissipation(PCHD). Then, giving(More)
As the friction has a great effect on the performance of low speed and low stiffness impedance control of flexible joint robot, a modified Dahl friction model is adopted, and a friction observer is proposed to compensate the friction based on interconnection and damping assignment passivity based control (IDA-PBC) method. The dynamics friction compensation(More)
There are many space servicing tasks for space robots. With a single end effector, the space robot even can not meet the operation requirements of individual task. The space robot system has a self-relocating main manipulator arm and a dexterous robot arm to perform the tasks. To mount/de-mount payloads and tools, interfaces between the end effector and(More)
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