Tham khảo tài liệu 'advanced robotics - control of interactive robotic interfaces volume 29 part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 86 3 A Port-Hamiltonian Approach to the Control of Interaction Fig. . Rotational velocity and displacement dashed at the the variable length port of the spatial spring. Fig. . Desired motion of the planar robot. the desired position. This result is shown also in Fig. where the rotational velocity and the resulting angular displacement proportional to the torque generated in the uncompensated case are reported. The motion of the robot is shown in Fig. . IPC for Grasping Robotic hands have to interact with the environment in order to grasp objects and to manipulate them. The IPC therefore can be profitably applied to these devices in order to control the interaction of the fingers with the objects to Intrinsically Passive Control of Robotic Systems 87 Fig. . The grasping system be grasped. On the other hand it is necessary also to freely move the fingers in the workspace in order to approach the object to be manipulated. It is possible to build an IPC that can both regulate the contact of the fingers with an object and allow the motion of the fingers. The control scheme is represented in Fig. for the simple case of an hand with two fingers. The arrows on the springs express the fact that they are variable rest length springs. Each fingertip is connected to the virtual object by a variable rest length spring and the virtual object is connected to the virtual point by means of a spatial spring. The supervisory system can inject energy into the system both through the virtual point and through the rest length ports of the spatial springs that connects the fingertips to the virtual object. When some energy is supplied through the rest length port of the robotic hand the rest lengths of the spatial springs connecting the fingertips to the virtual object change and therefore the relative position of the fingers with respect to the virtual object changes. In this way it is possible to change the relative position of the fingers in the space. .
