Passivity based control of a 7 DOF robotic arm for domotic applications
Description
The Philips experimental robot arm is a kinematically redundant manipulator which is mainly aimed at increasing dexterity. The robot manipulator, developed by Philips Applied Technologies for domotic applications, has seven degrees of freedom and includes humanoid characteristics of an upper limb motion. Humanoid kinematics and dynamics allow new developments in the field of robotics. In this work, a model is derived and put in a physical modeling framework, so that passivity can be used as an instrumental property to derive control methods that are relevant for domotic applications.
Projectleader
Prof.dr.ir. J.M.A. Scherpen
PhD student
M. Munoz Arias
Funding
Technological Institute Costa Rica
Contact information
Secretary | Frederika Fokkens |
Telephone | +31 50 363 8493 |
Postal address | University of Groningen Nijenborgh 4 NL-9747 AG Groningen The Netherlands |
secdtpa rug.nl |
Laatst gewijzigd: | 12 oktober 2012 13:51 |