Ieee Transactions of Robotics and Automation
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چکیده
This article presents and discusses the application of an Intrinsically Passive Control (IPC) strategy to robotic grasping and manipulation tasks. Major advantages of the presented control strategy are the physical intuition on which it is based, its passive nature, and the ensured stability for the overall system in all the situations, including in particular the transition from no-contact to contact and vice-versa. One of the main features of the proposed control is that only joint position measurements are needed. This means that no velocity or force measurements are required in the control loop, simplifying the sensorial complexity and enlarging the possibilities of application of the scheme. Experimental results are reported, showing the effectiveness of the proposed control strategy. Keywords— Passivity, Interaction, Physical Control, Robotic Manipulation.
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تاریخ انتشار 1999