Multi-terrain Velocity Control of the Spherical Robot by Online Obtaining the Uncertainties in the Dynamics
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3141210
Abstract: One controller cannot work on multiple and unknown terrains in the velocity control of the spherical robot, because the dynamic models of the robot vary on different terrains, and unmodeled dynamics and uncertainties exist in… read more here.
Keywords: control spherical; velocity; controller; spherical robot ... See more keywords
Constrained Orientation Control of a Spherical Parallel Manipulator via Online Convex Optimization
Sign Up to like & getrecommendations! Published in 2018 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2017.2774245
Abstract: This paper introduces a new framework for the closed-loop orientation control of spherical parallel manipulators (SPMs) based on the online solution of a convex optimization problem. The aim of solving a constrained optimization problem is… read more here.
Keywords: orientation; orientation control; spherical parallel; optimization ... See more keywords