In this work, an asymmetric time‐varying barrier Lyapunov function‐based model‐free
hybrid force/position controller (ABLF‐MFC) is proposed for the series elastic actuator …

In classical impedance control, KD, the steady-state end-effector forces are imposed to be
proportional to the end-effector position errors through the stiffness matrix, K, and a proper …

The importance of information intelligence in today's society is growing as a result of
advances in science and technology, and as intelligent technology is now a part of almost …

This paper presents an extension of impedance control of robots based on fractional
calculus. In classical impedance control, the end-effector reactions are proportional to the …

In this work, a shifting asymmetric time-varying barrier Lyapunov function (BLF)-based
model-free hybrid force/position controller (SABMHC) is proposed for the endpoint of the 3 …

Fractional order representations model complex systems with less parameters, improved
accuracy and enhanced robustness in control systems but the system identification of …

Abstract Series elastic actuator (SEA) technology is promising for the development of
compliant robotic joints. Despite advancements in the realization of precise tracking …

The aim of this paper is to study the position and power performances of an electrical lead
screw-driven industrial gripper mechanism (LSDIGM). This work consists of designing and …

This study presents a comprehensive exploration of the performance of a proposed
controller within dynamic system contexts. The controller is rooted in Model Reference …

Felipe Rebelo Lopes Desenvolvimento e controle de um acoplador elástico baseado em
elastômeros para SEA Page 1 Felipe Rebelo Lopes Desenvolvimento e controle de um …