Abstract
This work is devoted to an impedance grasping
strategy for a class of standard mechanical systems in the port-
Hamiltonian framework. The presented control strategy re-
quires a set of coordinate transformations, since the impedance
control in the port-Hamiltonian framework with structure
preservation is not straightforward. The impedance grasping
control is achieved via a virtual spring with a variable rest
length. The force that is exerted by the virtual spring leads to
a dissipation term in the impedance grasping controller which
is needed to obtain a smoother noncontact to contact transition.
Simulations results are given in order to motivate our results.
strategy for a class of standard mechanical systems in the port-
Hamiltonian framework. The presented control strategy re-
quires a set of coordinate transformations, since the impedance
control in the port-Hamiltonian framework with structure
preservation is not straightforward. The impedance grasping
control is achieved via a virtual spring with a variable rest
length. The force that is exerted by the virtual spring leads to
a dissipation term in the impedance grasping controller which
is needed to obtain a smoother noncontact to contact transition.
Simulations results are given in order to motivate our results.
| Original language | English |
|---|---|
| Title of host publication | Proceedings CDC2014 |
| Pages | 1403-1408 |
| Number of pages | 6 |
| Publication status | Published - Dec-2014 |
| Event | 53rd IEEE Conference on Decision and Control - Los Angeles, United States Duration: 15-Dec-2014 → 17-Dec-2014 |
Conference
| Conference | 53rd IEEE Conference on Decision and Control |
|---|---|
| Country/Territory | United States |
| City | Los Angeles |
| Period | 15/12/2014 → 17/12/2014 |