Description

The Philips experimental robot arm is a kinematically redundant manipulator which is mainly aimed at increasing dexterity. The robot manipulator, developed by Philips Applied Technologies for domotic applications, has seven degrees of freedom and includes humanoid characteristics of an upper limb motion. Humanoid kinematics and dynamics allow new developments in the field of robotics. In this work, a model is derived and put in a physical modeling framework, so that passivity can be used as an instrumental property to derive control methods that are relevant for domotic applications.

 

Projectleader

Prof.dr.ir. J.M.A. Scherpen

 

PhD student

M. Munoz Arias

 

Funding

Technological Institute Costa Rica

 

Contact information