This 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 remini...

Human operated, hydraulic actuated machines are widely used in many high-power applications. Improving productivity, safety and task quality (eg. haptic feedback in a teleoperated scenario) has been the focus of past research. For robotic systems that interact with the physical environments, passivity is a useful property for ensuring safety and interaction stability. While passivity is a well ...

The paper deals with connections between optimality and passivity-like properties in discrete time. The problem is set in the framework of differential/difference representations of discrete-time dynamics. The Hamilton–Jacobi–Bellman equality associated with a given cost and the corresponding optimal control solution are characterized. On these bases the connection with u-average passivity is c...

K e y w o r d s . adaptive control, self-optimization, dual control, robotics, passivity, biomechanics, motion control.

Time delayed teleoperation has been one of the first and most challenging topics in robotic control. Although numerous methods have been developed by researchers all over the world during the last two decades, those methods have limitations or need special assumptions to be applied. With the development of the world-wide-web, teleoperation through the Internet sees a bright future. However, the...

This paper deals with the control and the estimation of the visual feedback systems with a fixed camera. Firstly the fundamental representation and the nonlinear observer for the visual feedback system with four coordinate frames is established. Secondly the visual feedback system is composed by the control error system and the estimation error system. Next, we derive the passivity of the visua...