Robot control in the port-Hamiltonian framework

In order to perform complex robotic tasks involving the interaction of an end-effector and an external environment, strategies with dexterous manipulation are required. Two kinds of control problems, i.e. force and impedance grasping control strategies, will be addressed in this project. Although Euler-Lagrange framework has been widely used to develop the control system for robot manipulators, it has a less clear physical interpretation. Thus, in this research, the port-Hamiltonian framework will be adopted to develop energy-based control strategies. In contrast to the Euler-Lagrange framework, the port-Hamiltonian framework has cleaner tuning opportunities, resulting in a better performance.