| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 723665 | IFAC Proceedings Volumes | 2007 | 6 Pages |
Abstract
In this paper we develop one of the first control applications of the recently proposed port-contact framework. We show how it is possible to model and control a bilateral telemanipulation system using port-contact systems and we develop a port-contact impedance controller that allows to impose a desired interactive behavior and a zero steady state position error during contact tasks.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
C. Secchi, S. Stramigioli, C. Fantuzzi,