Robust decentralized force/position fault-tolerant control for constrained reconfigurable manipulators without torque sensing
Sign Up to like & getrecommendations! Published in 2017 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-017-3494-1
Abstract: A major technical challenge in decentralized fault-tolerant control for a torque sensorless constrained reconfigurable manipulators is associated with decentralized control of the constraint force. This paper proposed a novel decentralized force/position control method based on… read more here.
Keywords: control; constrained reconfigurable; force; reconfigurable manipulators ... See more keywords
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Neural Systems and Rehabilitation Engineering"
DOI: 10.1109/tnsre.2021.3098062
Abstract: Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to reproduce… read more here.
Keywords: adaptive force; interaction; controller; force position ... See more keywords
Time-varying modeling and intelligent compensation control of singletendon-sheath structure of surgical robot
Sign Up to like & getrecommendations! Published in 2023 at "Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine"
DOI: 10.1177/09544119231158237
Abstract: Graphical abstract The inaccurate force and position control of tendon sheath system (TSS) due to nonlinear friction during surgery seriously hinders its development in the field of precision surgical robots. To this end, this paper… read more here.
Keywords: force position; time varying; control; model ... See more keywords