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Research ENTEG Discrete Technology & Production Automation Research Projects

Passivity based control of a 7 DOF robotic arm for domotic applications


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 J.M.A. Scherpen


PhD student

M. Munoz Arias



Technological Institute Costa Rica


Contact information


Secretary Frederika Fokkens
Telephone +31 50 363 8493
Postal address University of Groningen
Nijenborgh 4
NL-9747 AG Groningen
The Netherlands



Laatst gewijzigd:12 oktober 2012 13:51