A Passivity Based Command-Governor Control Approach

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Casavola, Alessandro and Sorbara, Michela and Stramigioli, S. (2006) A Passivity Based Command-Governor Control Approach. In: Proceeding of the 8th International IFAC Symposium on Robot Control, Bologna, Italy.

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Abstract:In this paper an extension of the basic Command Governor approach for manipulation of dynamic systems is proposed. This work presents a way to incorporate kinetostatic feedback to the operator maintaining the passivity of the closed-loop system. Preliminary simulation results, without time-delay, are presented showing the theoretically expected effectiveness of the proposed method.
Item Type:Conference or Workshop Item
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Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/62278
Official URL:http://www.ifac-papersonline.net/cgi-bin/links/page.cgi?g=Detailed/31155.html;d=1
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