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Passivity-based Control of Robot Manipulators Subject to Constraints

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Date

2005

Authors

Ngo, Khoi
Mahony, Robert

Journal Title

Journal ISSN

Volume Title

Publisher

Australian Robotics and Automation Association

Abstract

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.

Description

Keywords

Keywords: Artificial potential field method; Barrier functions; Control Lyapunov function; Control objectives; Passivity based control; Passivity properties; Passivity-based controllers; Rate constraints; Robot manipulator; Controllers; Flexible manipulators; Indus

Citation

URI

http://hdl.handle.net/1885/79100

Collections

ANU Research Publications

Source

Proceedings of the 2005 Australasian Conference on Robotics and Automation

Type

Conference paper

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