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Titel:

A Passivity-Based Approach for Variable Stiffness Control With Dynamical Systems

Dokumenttyp:
Magazinartikel
Autor(en):
Youssef Michel; Matteo Saveriano; Dongheui Lee
Abstract:
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order Dynamical System (DS) with a variable stiffness profile, in a closed loop configuration where the controller is always aware of the current robot state. This allows the robot to follow a desired path with an interactive behavior dictated by the desired stiffn...     »
Zeitschriftentitel:
IEEE Transactions on Automation Science and Engineering
Jahr:
2023
Jahr / Monat:
2023-10
Seitenangaben Beitrag:
1 - 12
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1109/TASE.2023.3324141
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