https://nova.newcastle.edu.au/vital/access/ /manager/Index en-au 5 https://nova.newcastle.edu.au/vital/access/ /manager/Repository/uon:25239 Tue 16 Oct 2018 12:07:29 AEDT ]]> https://nova.newcastle.edu.au/vital/access/ /manager/Repository/uon:46462 Thu 17 Aug 2023 11:26:26 AEST ]]> https://nova.newcastle.edu.au/vital/access/ /manager/Repository/uon:21226 potential shape variables in closed loop is proposed, which can replace the set of open loop shape variables-the configuration variables that appear in the kinetic energy. With this choice, the closed-loop potential energy contains free functions of the new variables. By expressing the regulation objective in terms of these new potential shape variables, the desired equilibrium can be assigned and there is freedom to reshape the potential energy to achieve performance whilst maintaining the PHS form in closed loop. This complements contemporary results in the literature, which preserve the open-loop shape variables. As a case study, we consider a robotic manipulator mounted on a flexible base and compensate for the motion of the base while positioning the end effector with respect to the ground reference. We compare the proposed control strategy with special cases that correspond to other energy shaping strategies previously proposed in the literature.]]> Sat 24 Mar 2018 07:53:00 AEDT ]]> https://nova.newcastle.edu.au/vital/access/ /manager/Repository/uon:6156 Sat 24 Mar 2018 07:44:31 AEDT ]]> https://nova.newcastle.edu.au/vital/access/ /manager/Repository/uon:29424 Sat 24 Mar 2018 07:36:13 AEDT ]]> https://nova.newcastle.edu.au/vital/access/ /manager/Repository/uon:22579 Sat 24 Mar 2018 07:15:58 AEDT ]]> https://nova.newcastle.edu.au/vital/access/ /manager/Repository/uon:24801 Sat 24 Mar 2018 07:15:14 AEDT ]]> https://nova.newcastle.edu.au/vital/access/ /manager/Repository/uon:25409 Mon 08 Feb 2021 10:35:17 AEDT ]]>