Adaptive Dynamic Programming-Based Fault-Tolerant Position-Force Control of Constrained Reconfigurable Manipulators
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Access"
DOI: 10.1109/access.2020.3029074
Abstract: This article presents a novel fault-tolerant position-force optimal control method for constrained reconfigurable manipulators with uncertain actuator failures. On the basis of the radial basis function neural network (RBFNN)-estimated manipulators dynamics, the proposed force-position error… read more here.
Keywords: fault tolerant; position force; tolerant position; force ... See more keywords
Learning-Based Approach for a Soft Assistive Robotic Arm to Achieve Simultaneous Position and Force Control
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3185786
Abstract: Soft robotics have demonstrated great advantages in assisting elderly/disabled people during daily tasks, owing to their highly dexterous motions and safe human-robot interactions. However, simultaneously controlling the position and force of soft robots is still… read more here.
Keywords: position force; robotic arm; control; approach ... See more keywords
Visuomotor control of ankle joint using position vs. force
Sign Up to like & getrecommendations! Published in 2019 at "European Journal of Neuroscience"
DOI: 10.1111/ejn.14502
Abstract: Ankle joint plays a critical role in daily activities involving interactions with environment using force and position control. Neuromechanical dysfunctions (e.g., due to stroke or brain injury), therefore, have a major impact on individuals’ quality… read more here.
Keywords: ankle joint; control; position; position force ... See more keywords
Decentralized position–force zero-sum approximate optimal control for reconfigurable robots with unmodeled dynamic
Sign Up to like & getrecommendations! Published in 2022 at "Transactions of the Institute of Measurement and Control"
DOI: 10.1177/01423312221109726
Abstract: In this paper, the position–force–based approximate optimal control method is developed for reconfigurable robots using zero-sum game strategy. By utilizing the Newton–Euler iteration technique, the robotic system’s dynamic model is formulated and the state space… read more here.
Keywords: position force; reconfigurable robots; control; approximate optimal ... See more keywords
Adaptive Position/Force Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment
Sign Up to like & getrecommendations! Published in 2021 at "Robotics"
DOI: 10.3390/robotics10010032
Abstract: The present paper concerns the synthesis of robot movement control systems in the cases of disturbances of natural position constraints, which are the result of surface susceptibility and inaccuracies in its description. The study contains… read more here.
Keywords: position force; adaptive position; control; environment ... See more keywords