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Published in 2017 at "Assembly Automation"
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…
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Keywords:
time;
fixed time;
compliant motion;
force ... See more keywords
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Published in 2022 at "IEEE Control Systems Letters"
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…
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Keywords:
motion force;
control;
joint robots;
elastic joint ... See more keywords
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Published in 2022 at "IEEE Robotics and Automation Letters"
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…
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Keywords:
using wave;
motion force;
manipulation;
force ... See more keywords
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Published in 2022 at "IEEE transactions on neural networks and learning systems"
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…
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Keywords:
control;
cooperative motion;
motion force;
force ... See more keywords