31 citations · 61 across the 18 of their papers we have counts for
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cs.RO2020
Trajectory Tracking for Robotic Arms with Input Saturation and Only Position Measurements
Jochem van der Veen, Pablo Borja, Jacquelien M. A. Scherpen
In this work, we propose a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic…
cs.RO2020
A variable rest length impedance grasping strategy in the port-Hamiltonian framework
Mauricio Munoz-Arias, Jacquelien Scherpen, Alessandro Macchelli
This work is devoted to an impedance grasping strategy for a class of standard mechanical systems in the port-Hamiltonian framework. We embed a variable rest-length of the springs…