TY - GEN

T1 - A task-space formulation of passive force control

AU - Goswami, Ambarish

AU - Peshkin, Michael A.

PY - 1991

Y1 - 1991

N2 - Force control implemented by a passive mechanical device (perhaps a wrist) has inherent advantages over an active implementation of the same force control law. Such a passive device can regain some of the versatility of its active counterpart if it comprises mechanical elements with programmable parameters, e.g., damping coefficients, spring stiffnesses, etc. The authors characterize the range of admittance matrices that a passive device may be programmed to possess. They stress that the admittance matrices that can be achieved belong to a much broader class than just ones having a 'center'. The authors describe the topological properties of the set of attainable matrices in task-space, and show that each matrix can be composed of positive linear combinations of a fixed set of basis matrices. They compare the volume of the space of attainable matrices to the volume of all positive real matrices, and suggest a method of visualizing the spaces in low-dimensional examples.

AB - Force control implemented by a passive mechanical device (perhaps a wrist) has inherent advantages over an active implementation of the same force control law. Such a passive device can regain some of the versatility of its active counterpart if it comprises mechanical elements with programmable parameters, e.g., damping coefficients, spring stiffnesses, etc. The authors characterize the range of admittance matrices that a passive device may be programmed to possess. They stress that the admittance matrices that can be achieved belong to a much broader class than just ones having a 'center'. The authors describe the topological properties of the set of attainable matrices in task-space, and show that each matrix can be composed of positive linear combinations of a fixed set of basis matrices. They compare the volume of the space of attainable matrices to the volume of all positive real matrices, and suggest a method of visualizing the spaces in low-dimensional examples.

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M3 - Conference contribution

AN - SCOPUS:0026408486

SN - 0780301064

T3 - Proceedings of the 1991 IEEE International Symposium on Intelligent Control

SP - 95

EP - 100

BT - Proceedings of the 1991 IEEE International Symposium on Intelligent Control

PB - Publ by IEEE

T2 - 1991 IEEE International Symposium on Intelligent Control

Y2 - 13 August 1991 through 15 August 1991

ER -