A Hybrid Adaptive Control Strategy for Industrial Robotic Joints
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DOI: 10.1109/access.2019.2907179
Abstract: This paper presents a hybrid adaptive approximation-based control (HAAC) strategy for a class of uncertain robotic joints’ system. The proposed control structure consists of a robust sliding mode controller and an adaptive approximation-based controller. The… read more here.
Keywords: sliding mode; control; controller; hybrid adaptive ... See more keywords
Evaluation and Modeling of the Friction in Robotic Joints Considering Thermal Effects
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DOI: 10.1115/1.4045939
Abstract: The paper presents a second-order friction model for the joints of industrial robot manipulators that takes into account temperature effects. A solution based on a polynomial description of the friction is proposed. The theoretical analysis… read more here.
Keywords: friction robotic; temperature; robotic joints; friction ... See more keywords
A Study on Phase-Changing Materials for Controllable Stiffness in Robotic Joints
Sign Up to like & getrecommendations! Published in 2022 at "Robotics"
DOI: 10.3390/robotics11030066
Abstract: This paper studies the viability of using a class of phase-changing materials for the design of controlled variable stiffness robotic joints which enable the design of robots that can operate in confined spaces. In such… read more here.
Keywords: stiffness robotic; stiffness; phase changing; robotic joints ... See more keywords