A passivity based control signal guaranteeing joint limit avoidance in redundant robots

Abstract

In this work we propose a torque control signal that guarantees joint limit avoidance of a redundant arm. Its design is based on the prescribed performance control methodology that enables guarantees on the satisfaction of inequality constraints regarding the system output. It is proved that the proposed signal preserves the passivity of closed loop robot… (More)

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@article{Papageorgiou2016APB, title={A passivity based control signal guaranteeing joint limit avoidance in redundant robots}, author={Dimitrios Papageorgiou and Abdelrahem Atawnih and Zoe Doulgeri}, journal={2016 24th Mediterranean Conference on Control and Automation (MED)}, year={2016}, pages={569-574} }