Fixed-time compliant motion/force control of robotic manipulators with environmental constraints
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DOI: 10.1108/aa-11-2016-158
Abstract: Purpose The purpose of this paper is to design a new compliant motion/force control strategy for robotic manipulators with environmental constraints in the sense of fixed-time stability. Design/methodology/approach This paper investigates a novel compliant motion/force… read more here.
Keywords: time; fixed time; compliant motion; force ... See more keywords
Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots
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DOI: 10.1109/lcsys.2022.3187345
Abstract: In the past, several motion and force controls were successfully implemented on rigid-joint robots with constraints. With the invention of mechanically compliant robots, the focus on designing controllers for elastic joint robots with constraints is… read more here.
Keywords: motion force; control; joint robots; elastic joint ... See more keywords
Manipulation Planning Using Wave Variables
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DOI: 10.1109/lra.2022.3166442
Abstract: There are plenty of low-level controllers for the robots to perform manipulation tasks. Most of them require specifying of either reference motion or force as the input. However, motion or force planning to interact with… read more here.
Keywords: using wave; motion force; manipulation; force ... See more keywords
Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation
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DOI: 10.1109/lra.2024.3486236
Abstract: Aerial manipulation has gained interest in completing high-altitude tasks that are challenging for human workers, such as contact inspection and defect detection, etc. Previous research has focused on maintaining static contact points or forces. This… read more here.
Keywords: aerial manipulation; force; contact aware; contact ... See more keywords
Unified Contact Model and Hybrid Motion/force Control for Teleoperated Manipulation in Unknown Environments
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DOI: 10.1109/tmech.2024.3461968
Abstract: Teleoperated manipulation under the human intelligence is an effective solution to confront complicated tasks in unknown environments. However, the uncertain contact in environments is the main challenge to achieve good teleoperation, and some inevitable issues… read more here.
Keywords: unified contact; contact model; model; motion force ... See more keywords
Adaptive Dynamic Programming-Based Cooperative Motion/Force Control for Modular Reconfigurable Manipulators: A Joint Task Assignment Approach.
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DOI: 10.1109/tnnls.2022.3171828
Abstract: This article develops a cooperative motion/force control (CMFC) scheme based on adaptive dynamic programming (ADP) for modular reconfigurable manipulators (MRMs) with the joint task assignment approach. By separating terms depending on local variables only, the… read more here.
Keywords: control; cooperative motion; motion force; force ... See more keywords