Skip to Main content Skip to Navigation
Conference papers

Contact Dynamics and Coupled Stability of Massage Compliant Robotic Arm With Impedance Controller

Abstract : The contact dynamics during massage manipulation by compliant robotic arm is described by using port-Hamiltonian modeling approach, which is a powerful tool for modeling complex dynamical systems due to the power port term. The nonlinear Hunt-Crossley model is used to replace the linear KelvinVoigt model in order to capture the behavior of soft tissues. Then, the impedance controller in [1], [2] is reformulated in full-state feedback form, and coupled stability is reassured form the energetic viewpoint. Some experiments are given to verify coupled stability during massage manipulation by compliant robotic arm.
Document type :
Conference papers
Complete list of metadatas

Cited literature [27 references]  Display  Hide  Download

https://hal.laas.fr/hal-02002555
Contributor : Philippe Souères <>
Submitted on : Thursday, January 31, 2019 - 5:27:23 PM
Last modification on : Friday, January 10, 2020 - 9:10:09 PM
Long-term archiving on: : Wednesday, May 1, 2019 - 6:55:00 PM

File

Huang-et-al-2014.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02002555, version 1

Citation

Yuancan Huang, Philippe Souères, Jian Li. Contact Dynamics and Coupled Stability of Massage Compliant Robotic Arm With Impedance Controller. IEEE International Conference on Robotics and Automation, IEEE, May 2014, Hong-Kong, China. ⟨hal-02002555⟩

Share

Metrics

Record views

44

Files downloads

39