A Geometric Task-Space Port-Hamiltonian Formulation for Redundant Manipulators

Federico Califano, Camilla Rota, Riccardo Zanella +1

We present a novel geometric port-Hamiltonian formulation of redundant manipulators performing a differential kinematic task $\hat{I}\cdot =J(q)\dot{q}$, where $q$ is a point on the configura…