{"ID":2828484,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.14349","arxiv_id":"2512.14349","title":"A Geometric Task-Space Port-Hamiltonian Formulation for Redundant Manipulators","abstract":"We present a novel geometric port-Hamiltonian formulation of redundant manipulators performing a differential kinematic task $η=J(q)\\dot{q}$, where $q$ is a point on the configuration manifold, $η$ is a velocity-like task space variable, and $J(q)$ is a linear map representing the task, for example the classical analytic or geometric manipulator Jacobian matrix. The proposed model emerges from a change of coordinates from canonical Hamiltonian dynamics, and splits the standard Hamiltonian momentum variable into a task-space momentum variable and a null-space momentum variable. Properties of this model and relation to Lagrangian formulations present in the literature are highlighted. Finally, we apply the proposed model in an \\textit{Interconnection and Damping Assignment Passivity-Based Control} (IDA-PBC) design to stabilize and shape the impedance of a 7-DOF Emika Panda robot in simulation.","short_abstract":"We present a novel geometric port-Hamiltonian formulation of redundant manipulators performing a differential kinematic task $η=J(q)\\dot{q}$, where $q$ is a point on the configuration manifold, $η$ is a velocity-like task space variable, and $J(q)$ is a linear map representing the task, for example the classical analyt...","url_abs":"https://arxiv.org/abs/2512.14349","url_pdf":"https://arxiv.org/pdf/2512.14349v1","authors":"[\"Federico Califano\",\"Camilla Rota\",\"Riccardo Zanella\",\"Antonio Franchi\"]","published":"2025-12-16T12:24:07Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"cs.RO\"]","methods":"[]","has_code":false}