A Port-Hamiltonian Approach to the Control of Interaction
Authors
Abstract
In many applications, a robot has to interact with the surrounding environment in order to perform some useful task. When a manipulator interacts with an object a very profound change occurs. In fact, before the contact, the controller has to control only the motion of the robot; after the contact, the manipulator dynamically interacts with the environment and the controller has to manage a new dynamical system made up by the robot coupled with the environment. It has been proven in [328] that even if the controlled robot is stable in case of free motion, its behavior could become unstable when there is a contact with the environment.
Citation
- ISBN: 9783540497127
- Publisher: Springer Berlin Heidelberg
- DOI: 10.1007/978-3-540-49715-8_3
BibTeX
@inbook{1, ISBN={9783540497127},
DOI={10.1007/978-3-540-49715-8_3},
booktitle={{Control of Interactive Robotic Interfaces}},
publisher={Springer Berlin Heidelberg},
pages={77--125}
}