Abstract
In many applications, a robot has to interact with the surrounding environment in order to perform some useful task. When a manipulator interacts with an object a very profound change occurs. In fact, before the contact, the controller has to control only the motion of the robot; after the contact, the manipulator dynamically interacts with the environment and the controller has to manage a new dynamical system made up by the robot coupled with the environment. It has been proven in [328] that even if the controlled robot is stable in case of free motion, its behavior could become unstable when there is a contact with the environment.
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© 2007 Springer-Verlag Berlin Heidelberg
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(2007). A Port-Hamiltonian Approach to the Control of Interaction. In: Control of Interactive Robotic Interfaces. Springer Tracts in Advanced Robotics, vol 29. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-49715-8_3
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DOI: https://doi.org/10.1007/978-3-540-49715-8_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-49712-7
Online ISBN: 978-3-540-49715-8
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