Control of Underactuated Manipulator with Passive Velocity Field Control

Adaptive Passive Velocity Field Control

Velocity field to draw’a circie Passive velocity field control (PVFC) was previously developed for mechanical systems which have strong coordination and must interact with the physical environment. Applications include teleoperated manipulators, contouring in machining and smart exercise machines. The methodology encodes tasks using time invariant desired velocity fields instead of the more tra...

Passive Velocity Field Control of Mechanical Manipulators

Two concepts are advocated for the task specification and control of mechanical manipulators: 1) coding tasks in terms of velocity fields; 2) designing controllers so that the manipulator when under feedback control, interacts in an energetically passive manner with its physical environment. Based on these two concepts, a new passive velocity field controller (PVFC) is proposed which mimics the...

Self - Optimizing Control and Passive Velocity Field Control of Intelligent

Self-Optimizing Control and Passive Velocity Field Control of Intelligent Machines

Dynamic control of a manipulator with passive joints-position control experiments by a prototype manipulator

The authors propose a method of controlling the position of a manipulator with passive joints which have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. In this paper, the effectiveness of the method is verified by experiments using a prototype manipulator. The prototype is a two degre...

Passive Velocity Field Control Approach to Robot Contour Following