Adaptive robust decoupling control of multi-arm space robots using time-delay estimation technique
The most distinctive difference between a space robot and a base-fixed robot is its free-
flying/floating base, which results in the dynamic coupling effect. The mounted manipulator …
flying/floating base, which results in the dynamic coupling effect. The mounted manipulator …
[書籍][B] Balancing of linkages and robot manipulators: advanced methods with illustrative examples
V Arakelian, S Briot - 2015 - books.google.com
In this book advanced balancing methods for planar and spatial linkages, hand operated
and automatic robot manipulators are presented. It is organized into three main parts and …
and automatic robot manipulators are presented. It is organized into three main parts and …
Value-driven robotic digital twins in cyber–physical applications
EG Kaigom, J Roßmann - IEEE Transactions on Industrial …, 2020 - ieeexplore.ieee.org
Although the skills of robot manipulators are becoming technically more complex, the
unprecedented cost-effective access to recently unveiled intelligent robots has the potential …
unprecedented cost-effective access to recently unveiled intelligent robots has the potential …
Modularize-and-conquer: a generalized impact dynamics and safe precollision control framework for floating-base tree-like robots
Flexible and versatile mobile robotic coworkers are becoming an indispensable commodity
for hel** humans with repetitive or physically demanding work. A key challenge with these …
for hel** humans with repetitive or physically demanding work. A key challenge with these …
Reactionless control of free-floating space manipulators
This paper presents a new dynamic formulation as well as control scheme for space
manipulators in order to drive the end-effector along a desired trajectory while minimizing …
manipulators in order to drive the end-effector along a desired trajectory while minimizing …
Inertia forces and moments balancing in robot manipulators: a review
V Arakelian - Advanced Robotics, 2017 - Taylor & Francis
The balancing of linkages is an integral part of the mechanism design. Despite its long
history, mechanism balancing theory continues to be developed and new approaches and …
history, mechanism balancing theory continues to be developed and new approaches and …
[HTML][HTML] An adaptive continuous sliding mode feedback linearization task space control for robot manipulators
Two main domains have been followed; joint space control and operational (task) space
control for robot manipulators. Task space control is simpler than joint space control as it …
control for robot manipulators. Task space control is simpler than joint space control as it …
Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta
Common control methods for free-floating robots assume zero initial linear and angular
momenta, for which a reduced joint dynamics equivalent to that of a fixed-base robot can be …
momenta, for which a reduced joint dynamics equivalent to that of a fixed-base robot can be …
Parameters concurrent learning and reactionless control in post-capture of unknown targets by space manipulators
This paper studies parameters identification and minimizing base disturbances problems
after the space manipulator capturing an unknown target. A concurrent learning algorithm …
after the space manipulator capturing an unknown target. A concurrent learning algorithm …
Walking with arm swinging and pelvis rotation generated with the relative angular acceleration
A Miyata, S Miyahara… - IEEE Robotics and …, 2019 - ieeexplore.ieee.org
A natural-looking arm swinging in biped locomotion can be generated by appropriately
controlling the quantities derived from the momentum equilibrium principle such as the rate …
controlling the quantities derived from the momentum equilibrium principle such as the rate …