An impedance grasping strategy

Authors

Mauricio Munoz-Arias, Jacquelien M.A. Scherpen, Alessandro Macchelli

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 requires 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.

Citation

• Journal: 53rd IEEE Conference on Decision and Control
• Year: 2014
• Volume:
• Issue:
• Pages: 1403–1408
• Publisher: IEEE
• DOI: 10.1109/cdc.2014.7039598

BibTeX

@inproceedings{Munoz_Arias_2014,
  title={{An impedance grasping strategy}},
  DOI={10.1109/cdc.2014.7039598},
  booktitle={{53rd IEEE Conference on Decision and Control}},
  publisher={IEEE},
  author={Munoz-Arias, Mauricio and Scherpen, Jacquelien M.A. and Macchelli, Alessandro},
  year={2014},
  pages={1403--1408}
}

Download the bib file

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