Active impedance control of bioinspired motion robotic manipulators: An overview
There are two main categories of force control schemes: hybrid position‐force control and
impedance control. However, the former does not take into account the dynamic interaction …
impedance control. However, the former does not take into account the dynamic interaction …
Review of industrial robot stiffness identification and modelling
Featured Application (1) Static stiffness modelling methods are classified and summarized.
Each method is studied with regards to algorithms, implementation, and limitations;(2) A …
Each method is studied with regards to algorithms, implementation, and limitations;(2) A …
[PDF][PDF] Soft robots
The physical characteristics of animals' bodies are substantially different from those of
classic robots. Elastic tendons, ligaments, and muscles enable animals to robustly interact …
classic robots. Elastic tendons, ligaments, and muscles enable animals to robustly interact …
[BOOK][B] Control and estimation of dynamical nonlinear and partial differential equation systems: Theory and Applications
Robotic and mechatronic systems, autonomous vehicles, electric power systems and smart
grids, as well as manufacturing and industrial production systems can exhibit complex …
grids, as well as manufacturing and industrial production systems can exhibit complex …
On higher order inverse kinematics methods in time-optimal trajectory planning for kinematically redundant manipulators
Time-optimal motion control will only find industrial applications if the optimal motions can
actually be performed by standard industrial robots. This is not ensured by any optimal …
actually be performed by standard industrial robots. This is not ensured by any optimal …
On the motion/stiffness decoupling property of articulated soft robots with application to model-free torque iterative learning control
This article tackles the problem of controlling articulated soft robots (ASRs), ie, robots with
either fixed or variable elasticity lumped at the joints. Classic control schemes rely on high …
either fixed or variable elasticity lumped at the joints. Classic control schemes rely on high …
An overview of formulae for the higher-order kinematics of lower-pair chains with applications in robotics and mechanism theory
A Mueller - Mechanism and Machine Theory, 2019 - Elsevier
The motions of mechanisms can be described in terms of screw coordinates by means of an
exponential map**. The product of exponentials (POE) describes the configuration of a …
exponential map**. The product of exponentials (POE) describes the configuration of a …
Decentralized trajectory tracking control for soft robots interacting with the environment
Despite the classic nature of the problem, trajectory tracking for soft robots, ie, robots with
compliant elements deliberately introduced in their design, still presents several challenges …
compliant elements deliberately introduced in their design, still presents several challenges …
Novel off-line self-tuning controller with guaranteed stability
Tuning control parameters is an essential task for the controller in all practical applications.
This paper presents a new Lyapunov-based off-line self-tuning control (OSTC). method. The …
This paper presents a new Lyapunov-based off-line self-tuning control (OSTC). method. The …
An O(n)-Algorithm for the Higher-Order Kinematics and Inverse Dynamics of Serial Manipulators Using Spatial Representation of Twists
A Müller - IEEE Robotics and Automation Letters, 2020 - ieeexplore.ieee.org
Optimal control in general, and flatness-based control in particular, of robotic arms
necessitate to compute the first and second time derivatives of the joint torques/forces …
necessitate to compute the first and second time derivatives of the joint torques/forces …