A Passivity-Based Approach for Kinematic Control of Manipulators With Constraints

Most traditional methods for solving the kinematic control problem of redundant manipulators are designed from a signal processing perspective. However, such a perspective may make the resultant design difficult for practitioners to understand. If the problem is addressed from an energy perspective, the resultant design may be more comprehensive, because energy is a universal concept and can be used to describe complex large-scale industrial systems. Passivity is a property of engineering systems, which is characterized through energy transformation. In this paper, a passivity-based approach is proposed for the kinematic control of redundant manipulators, where the joint velocity limit of manipulators is also considered. The performance of the approach is theoretically guaranteed. In addition, simulative examples are presented to validate the efficacy of the approach and the theoretical results.