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. - 3:(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) [10.1109/IROS.2001.977233].
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
Pubblicazioni consigliate
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris
