CINECA IRIS Institutional Research Information System
IRIS è la soluzione IT che facilita la raccolta e la gestione dei dati relativi alle attività e ai prodotti della ricerca. Fornisce a ricercatori, amministratori e valutatori gli strumenti per monitorare i risultati della ricerca, aumentarne la visibilità e allocare in modo efficace le risorse disponibili.
EnglishThis paper presents a new procedure to design a control law using the classical interconnection and damping assignment technique within the passivity-based port-Hamiltonian framework. The sought goal is to reduce the complexity of solving the so-called matching equations. The proposed approach is applied to two case studies of planar rolling nonprehensile manipulation, namely, the ball-and-beam and the eccentric disk-on-disk. The performance of the resulting controllers is illustrated through both simulations and experimental results, showing the applicability of the design in a real setup.
| Titolo: | Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach | |
| Autori: | ||
| Data di pubblicazione: | 2019 | |
| Rivista: | ||
| Abstract: | This paper presents a new procedure to design a control law using the classical interconnection and damping assignment technique within the passivity-based port-Hamiltonian framework. The sought goal is to reduce the complexity of solving the so-called matching equations. The proposed approach is applied to two case studies of planar rolling nonprehensile manipulation, namely, the ball-and-beam and the eccentric disk-on-disk. The performance of the resulting controllers is illustrated through both simulations and experimental results, showing the applicability of the design in a real setup. | |
| Handle: | http://hdl.handle.net/11588/741825 | |
| Appare nelle tipologie: | 1.1 Articolo in rivista |
File in questo prodotto:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| ida_planar.pdf | Documento in Pre-print | Accesso privato/ristretto | Open Access Visualizza/Apri |
http://hdl.handle.net/11588/741825
Copyright © 2021