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Passivity-based Control of Robot Manipulators Subject to Constraints

Ngo, Khoi; Mahony, Robert


This paper presents a passivity-based controller design capable of achieving autonomous obstacle avoidance for robot manipulators subject to joint position and joint rate constraints. The control objectives are achieved by exploiting the passivity properties of the system and utilizing barrier function ideas to reshape the control Lyapunov function. The final control Lyapunov function is reminiscent of those used in the artificial potential field method.

CollectionsANU Research Publications
Date published: 2005
Type: Conference paper
Source: Proceedings of the 2005 Australasian Conference on Robotics and Automation


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