Compliant variable admittance adaptive fixed-time sliding mode control for trajectory tracking of robotic manipulators
Sign Up to like & getrecommendations! Published in 2024 at "Robotica"
DOI: 10.1017/s0263574724000468
Abstract: Abstract This paper presents a compliant variable admittance adaptive fixed-time sliding mode control (SMC) algorithm for trajectory tracking of robotic manipulators. Specifically, a compliant variable admittance algorithm and an adaptive fixed-time SMC algorithm are combined… read more here.
Keywords: adaptive fixed; time; variable admittance; fixed time ... See more keywords
Adaptive Variable Admittance Control of Manipulator for Detumbling a Space Instable Satellite
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DOI: 10.1109/access.2024.3492154
Abstract: It is a challenge for manipulator to quickly achieve detumbling of a space instable satellite (SIS) with low joint torque. In this paper, an adaptive variable admittance control method is proposed to address the above… read more here.
Keywords: admittance control; control; variable admittance; manipulator ... See more keywords
RRT* and Goal-Driven Variable Admittance Control for Obstacle Avoidance in Manual Guidance Applications
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3142887
Abstract: In manual guidance robotic applications, like the handling of large and heavy objects in a cluttered environment, it is important to guarantee that the operator accurately reaches the goal position without collisions with working isles… read more here.
Keywords: manual guidance; environment; admittance control; variable admittance ... See more keywords
Variable Admittance Control Using Velocity-Curvature Patterns to Enhance Physical Human-Robot Interaction
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3387110
Abstract: This letter introduces a variable admittance control approach aimed at enhancing intuitive human-robot interaction by considering both direct and indirect human intentions. The magnitude of force serves as a representation of direct intentions, delineating preferences… read more here.
Keywords: human robot; admittance control; control; variable admittance ... See more keywords
Variable Admittance Control of Robot Manipulators Based on Human Intention
Sign Up to like & getrecommendations! Published in 2019 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2019.2910237
Abstract: This paper presents a variable admittance control method to achieve intuitive human–robot interactions that consider human intentions. Human intention is classified into two categories—direct and indirect. With respect to direct intention, the concept of standard… read more here.
Keywords: variable admittance; intention; control; robot ... See more keywords
Learning-Based Variable Admittance Control Combined with NMPC for Contact Force Tracking in Unknown Environments
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DOI: 10.3390/act14070323
Abstract: With the development of robotics, robots are playing an increasingly critical role in complex tasks such as flexible manufacturing, physical human–robot interaction, and intelligent assembly. These tasks place higher demands on the force control performance… read more here.
Keywords: admittance control; control; force; variable admittance ... See more keywords
Research on Robotic Peg-in-Hole Assembly Method Based on Variable Admittance
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DOI: 10.3390/app15042143
Abstract: To address the complex challenge of identifying the contact state between a shaft and a hole and to improve the efficiency of robotic shaft-hole assembly tasks, a robotic shaft-hole assembly method based on variable admittance… read more here.
Keywords: method; variable admittance; hole; hole assembly ... See more keywords