Abstract: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 of the existing impedance grasping strategy in order to achieve a stable non-contact to contact transition, and a desired grasping force. We utilize the port-Hamiltonian structure of standard mechanical systems. First, we utilize a change of variables that transforms the port-Hamiltonian system into one with constant mass-inertia mat… Show more
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