Cultural advice

The Australian National University acknowledges, celebrates and pays our respects to the Ngunnawal and Ngambri people of the Canberra region and to all First Nations Australians on whose traditional lands we meet and work, and whose cultures are among the oldest continuing cultures in human history.

Aboriginal and Torres Strait Islander peoples are advised that ANU Library collections may include images, names, voices, and other representations of deceased persons.

Material in the collection may contain terms, language or views that reflect the period in which the item was created and may be considered inappropriate today.

Passivity-based Control of Robot Manipulators Subject to Constraints

Simple item page
dc.contributor.authorNgo, Khoi
dc.contributor.authorMahony, Robert
dc.coverage.spatialSydney Australia
dc.date.accessioned2015-12-13T22:43:13Z
dc.date.available2015-12-13T22:43:13Z
dc.date.createdDecember 5 2005
dc.date.issued2005
dc.date.updated2016-02-24T09:49:28Z
dc.description.abstractThis 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.
dc.identifier.isbn0958758379
dc.identifier.urihttp://hdl.handle.net/1885/79100
dc.publisherAustralian Robotics and Automation Association
dc.relation.ispartofseriesAustralasian Conference on Robotics and Automation (ACRA 2005)
dc.sourceProceedings of the 2005 Australasian Conference on Robotics and Automation
dc.source.urihttp://www.araa.asn.au/acra/acra2005/
dc.source.urihttp://www.araa.asn.au/acra/acra2005/papers/ngo_mahony.pdf
dc.subjectKeywords: 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
dc.titlePassivity-based Control of Robot Manipulators Subject to Constraints
dc.typeConference paper
local.bibliographicCitation.lastpage7
local.bibliographicCitation.startpage1
local.contributor.affiliationNgo, Khoi, College of Engineering and Computer Science, ANU
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.contributor.authoruidNgo, Khoi, u4039246
local.contributor.authoruidMahony, Robert, u4033888
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor091007 - Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
local.identifier.absfor091302 - Automation and Control Engineering
local.identifier.ariespublicationMigratedxPub7620
local.identifier.scopusID2-s2.0-84855609380
local.type.statusPublished Version

Downloads

Collections

ANU Research Publications

DSpace software copyright © 2002-2026 LYRASIS