This assignment aims at discovering/proposing port-Hamiltonian formulations of redundant robots. To account for redundancy, a port-Hamiltonian model displaying both interaction port and null-space port will be studied.
Control schemes using such model will be developed in two ways: first, state-of-the-art controllers for redundant robotis will be re-interpreted in this port-Hamiltonian formulation, possibly studying technical advantages in terms of stability analysis. Second, a novel safety-oriented optimisation routine will be introduced on the basis of the port-based formulation.