Title:
Torque control of a redundantly actuated passive manipulator
Torque control of a redundantly actuated passive manipulator
| dc.contributor.author | Davis, Hurley T. | en_US |
| dc.contributor.author | Book, Wayne J. | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2011-05-25T19:49:40Z | |
| dc.date.available | 2011-05-25T19:49:40Z | |
| dc.date.issued | 1997-06 | |
| dc.description | ©1997 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Presented at the 1997 American Control Conference, June 4-6, 1997, Albuquerque, NM. | en_US |
| dc.description | DOI: 10.1109/ACC.1997.609669 | en_US |
| dc.description.abstract | The study of passivity in the robotics domain has been motivated by safety and stability concerns in applications such as haptic displays, surgical robots, teleoperation, and manufacl1u·ing. This paper describes a passive manipulator with a redundant actuation scheme which allows for enhanced control capabilities and greater overall utility. An algorithm for determining passive actuator excitations from generally active control laws is presented. The torque translation algorithm is a graphical method based upon using knowledge of the specific passivity-induced constraints to select a subset of the available actuators to provide an acceptable output torque. The algorithm successfully provides a set of passive actuator torques for all manipulator states, and experimental results are given. | en_US |
| dc.identifier.citation | Davis, Hurley and Wayne Book, “Torque Control of a Redundantly Actuated Manipulator” Proceedings of the 1997 American Control Conference, June 4-6, 1997, Albuquerque, NM, Vol. 2, 959-963. | en_US |
| dc.identifier.isbn | 0-7803-3832-4 | |
| dc.identifier.issn | 0743-1619 | |
| dc.identifier.uri | http://hdl.handle.net/1853/38992 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | en_US |
| dc.subject | Torque translation algorithms | en_US |
| dc.subject | Teleoperation | en_US |
| dc.subject | Surgical robots | en_US |
| dc.subject | Passive manipulators | en_US |
| dc.title | Torque control of a redundantly actuated passive manipulator | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dc.type.genre | Post-print | |
| dspace.entity.type | Publication | |
| local.contributor.author | Book, Wayne J. | |
| local.contributor.corporatename | George W. Woodruff School of Mechanical Engineering | |
| local.contributor.corporatename | College of Engineering | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | 45966a3c-59ea-44fc-980a-96d543c035f0 | |
| relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
| relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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