Learning Control of Robot Manipulators in Task Space
Sign Up to like & getrecommendations! Published in 2018 at "Asian Journal of Control"
DOI: 10.1002/asjc.1648
Abstract: Two important properties of industrial tasks performed by robot manipulators, namely, periodicity (i.e., repetitive nature) of the task and the need for the task to be performed by the end-effector, motivated this work. Not being… read more here.
Keywords: robot manipulator; task space; control; robot manipulators ... See more keywords
No-go trials in task switching: effects on the task-set and task-space level.
Sign Up to like & getrecommendations! Published in 2021 at "Psychological research"
DOI: 10.1007/s00426-021-01566-7
Abstract: A common marker for inhibition processes in task switching are n - 2 repetition costs. The present study aimed at elucidating effects of no-go trials on n - 2 repetition costs. In contrast to the previous studies, no-go trials… read more here.
Keywords: task space; repetition costs; task; task switching ... See more keywords
Adaptive Neural Task Space Control for Robot Manipulators with Unknown and Closed Control Architecture Under Random Vibrations
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3180833
Abstract: Robot manipulators are now used in various domains and environments, where they can be subjected to random vibrations. Random vibrations mainly affect the torque control signal, and a torque controller is therefore required to be… read more here.
Keywords: control; controller; random vibrations; robot manipulators ... See more keywords
Task-Space Teleoperation With Time-Delays and Without Velocity Measurements via a Bounded Controller
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2022.3232223
Abstract: This letter reports a novel controller for robot teleoperation systems in the task-space. The local and the remote robots are kinematically and dynamically different and they are modeled as Euler-Lagrange agents. We consider the realistic… read more here.
Keywords: velocity measurements; teleoperation; controller; task space ... See more keywords
Task Space Control of Articulated Robot Near Kinematic Singularity: Forward Dynamics Approach
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2965071
Abstract: In this study, a forward dynamics-based control (FDC) framework is proposed for task space control of a non-redundant robot manipulator. The FDC framework utilizes forward dynamic robot simulation and an impedance controller to solve the… read more here.
Keywords: control; task space; forward dynamics; robot ... See more keywords
Unified Method for Task-Space Motion/Force/Impedance Control of Manipulator With Unknown Contact Reaction Strategy
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3139675
Abstract: Nowadays, higher requirements are placed on the design of the controller when robots enter the factory and co-operate with human. In this letter, we propose a unified task space control method combined with the contact… read more here.
Keywords: space; control; manipulator; task space ... See more keywords
Task Space Contouring Error Estimation and Precision Iterative Control of Robotic Manipulators
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3180430
Abstract: The task space contouring performance is significant for the machining accuracy of industrial robotic manipulators, but the contouring control of end-effector which is important in the industry has received scant attention. In this letter, a… read more here.
Keywords: estimation; contouring error; control; task space ... See more keywords
Simulation of Constrained Musculoskeletal Systems in Task Space
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Transactions on Biomedical Engineering"
DOI: 10.1109/tbme.2017.2764630
Abstract: Objective: This paper proposes an operational task space formalization of constrained musculoskeletal systems, motivated by its promising results in the field of robotics. Methods: The change of representation requires different algorithms for solving the inverse… read more here.
Keywords: task space; space; constrained musculoskeletal; musculoskeletal systems ... See more keywords
Task-Space Synchronization of Networked Mechanical Systems With Uncertain Parameters and Communication Delays
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Transactions on Cybernetics"
DOI: 10.1109/tcyb.2016.2597446
Abstract: This paper addresses the adaptive synchronization problem of networked mechanical systems in task space with time-varying communication delays, where both kinematic and dynamic uncertainties are considered and the information flow in the networks is represented… read more here.
Keywords: task space; communication delays; mechanical systems; networked mechanical ... See more keywords
Task-Space Synergies for Reaching Using Upper-Limb Prostheses
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Neural Systems and Rehabilitation Engineering"
DOI: 10.1109/tnsre.2020.3036320
Abstract: Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosthesis to the human command, such as the residual… read more here.
Keywords: space synergy; task space; task; space synergies ... See more keywords
A synergy-based motor control framework for the fast feedback control of musculoskeletal systems.
Sign Up to like & getrecommendations! Published in 2018 at "Journal of biomechanical engineering"
DOI: 10.1115/1.4042185
Abstract: This paper presents a computational framework for the fast feedback control of musculoskeletal systems using muscle synergies. The proposed motor control framework has a hierarchical structure. A feedback controller at the higher level of hierarchy… read more here.
Keywords: task space; motor control; muscle; control ... See more keywords