Impedance Control for a Flexible Robot Enhanced with Energy Tanks in the port-Hamiltonian Framework
Martin Mujica,Alejandro Donaire,Mourad Benoussaad,Jean-Yves Fourquet,Martin Mujica,Alejandro Donaire,Mourad Benoussaad,Jean-Yves Fourquet
In modern robotics, the manipulators are no longer isolated under fully controlled conditions but rather conceived to work in unconstrained environments. Under these operations, compliant control and passivity properties of the robot are of great importance, and thus the system’s energy function plays a crucial role in the control design. In this work, we propose a new design of cartesian impedanc...
