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Limiting Kinetic Energy through Control Barrier Functions : Analysis and Experimental Validation

Logmans, D.D. (2024) Limiting Kinetic Energy through Control Barrier Functions : Analysis and Experimental Validation.

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Full Text Status:Access to this publication is restricted
Embargo date:16 January 2025
Abstract:An energy-based Control Barrier Function (CBF) is used to limit kinetic energy of torque-controlled robots. The proposed CBF produces a safety-critical control action that bounds the kinetic energy of the manipulator by purely injecting damping in the underlying closed-loop system, not compromising its passivity and stability properties. We present an extensive experimental validation of the approach on a 7-Degree of Freedom (DoF) Franka Emika Panda robot.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
Link to this item:https://purl.utwente.nl/essays/101359
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