Passivity-Based Interaction Controller and Observer for Robot Manipulators

[+] Author and Article Information
Bruno Siciliano, Luigi Villani

PRISMA Lab, Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy

J. Dyn. Sys., Meas., Control 120(4), 516-520 (Dec 01, 1998) (5 pages) doi:10.1115/1.2801494 History: Received August 08, 1997; Online December 03, 2007


This work presents the design of a passivity-based controller and observer for a robot manipulator interacting with a compliant environment. Regulation of the contact force along the constrained direction and tracking of the end-effector position along the unconstrained directions is achieved; semiglobal exponential stability is proved. The control scheme is implemented in the joint space, and experimental results are illustrated for an open control architecture industrial robot which is endowed with joint position sensors and wrist force sensor, but no joint velocity sensors.

Copyright © 1998 by The American Society of Mechanical Engineers
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