In this paper, an extension of the so-called intrinsic passive control (IPC) is illustrated, showing that an improvement of performances can be achieved by considering different types of energy-storing elements, i.e. "springs", in the IPC. In particular, two new "springs" are introduced: a 'variable rest length' spring and a 'variable stiffness' spring, that are properly defined in order to maintain the passivity of the IPC and to improve its performances in given situations. Simulations of the resulting control, applied to a defective system and to a simple telemanipulation device, are presented and discussed

Geometric Grasping and Telemanipulation / Secchi, Cristian; Stramigioli, S.; Melchiorri, C.. - ELETTRONICO. - (2001), pp. 1763-1768. ((Intervento presentato al convegno IEEE Conference on Intelligent Robots and Systems (IROS 2001) tenutosi a MAUI, HI nel OCT 29-NOV 03, 2001.

Geometric Grasping and Telemanipulation

SECCHI, Cristian;
2001

Abstract

In this paper, an extension of the so-called intrinsic passive control (IPC) is illustrated, showing that an improvement of performances can be achieved by considering different types of energy-storing elements, i.e. "springs", in the IPC. In particular, two new "springs" are introduced: a 'variable rest length' spring and a 'variable stiffness' spring, that are properly defined in order to maintain the passivity of the IPC and to improve its performances in given situations. Simulations of the resulting control, applied to a defective system and to a simple telemanipulation device, are presented and discussed
IEEE Conference on Intelligent Robots and Systems (IROS 2001)
MAUI, HI
OCT 29-NOV 03, 2001
1763
1768
Secchi, Cristian; Stramigioli, S.; Melchiorri, C.
Geometric Grasping and Telemanipulation / Secchi, Cristian; Stramigioli, S.; Melchiorri, C.. - ELETTRONICO. - (2001), pp. 1763-1768. ((Intervento presentato al convegno IEEE Conference on Intelligent Robots and Systems (IROS 2001) tenutosi a MAUI, HI nel OCT 29-NOV 03, 2001.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/466691
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