FAT-based robust adaptive control of electrically driven robots without velocity measurements
Sign Up to like & getrecommendations! Published in 2017 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-017-3454-9
Abstract: Recently, regressor-free control approach has been presented in which uncertainties are estimated using function approximation techniques (FAT) such as the Fourier series expansion or Legendre polynomials. However, FAT-based observer design remains as an open problem.… read more here.
Keywords: robust adaptive; fat based; driven robots; electrically driven ... See more keywords
Polynomial-Based Robust Adaptive Impedance Control of Electrically Driven Robots
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DOI: 10.1017/s0263574720001009
Abstract: SUMMARY This paper presents a robust adaptive impedance controller for electrically driven robots using polynomials of degree N as a universal approximator. According to the universal approximation theorem, polynomials of degree N can approximate uncertainties… read more here.
Keywords: robust adaptive; adaptive impedance; polynomial based; driven robots ... See more keywords
A Modular Lockable Mechanism for Tendon-Driven Robots: Design, Modeling and Characterization
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3142907
Abstract: Surgical robots with variable stiffness can provide more stable configurations during minimally-invasive surgery.This letter presents a new design of modular lockable mechanism which can be used to change the stiffness of tendon-driven surgical robots. Locking… read more here.
Keywords: tendon driven; modular lockable; driven robots; mechanism tendon ... See more keywords