Passivity-based control of robotic manipulators for safe cooperation with humans

DOI10.1080/00207179.2014.956338zbMath1328.93178OpenAlexW2155992823MaRDI QIDQ5265922

Paolo Rocco, Bakir Lacevic, Andrea Maria Zanchettin

Publication date: 29 July 2015

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179.2014.956338

zbMATH Keywords

Lyapunov stabilityindustrial robotsrobot control

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15) Artificial intelligence for robotics (68T40)

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Robust impedance control of robot manipulators using differential equations as universal approximator

Cites Work

• Passivity-based control for bilateral teleoperation: a tutorial
• Robot navigation functions on manifolds with boundary
• Human-robot collaboration in precise positioning of a three-dimensional object
• Safe planning for human-robot interaction
• Impedance Control: An Approach to Manipulation: Part III—Applications
• A New Feedback Method for Dynamic Control of Manipulators
• Compliant motion control for robot manipulators