Related papers: A General Scheme Implicit Force Control for a Flex…
In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is detected when force control is then available--without any…
This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…
This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…
The primary purpose of this article is to accomplish safe grasping task by means of dual one-link flexible manipulators. In order to design a force-sensor-less force control, the direct force control problem is reduced to common motion…
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
This paper proposes a functional observer-based sliding mode control technique for position control of a single-link flexible manipulator. The proposed method considers the unmodelled system dynamics as uncertainty and aims to achieve…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ability to safely conform to items during contact. However,…
This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity-based…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
This paper proposes a novel controller framework that provides trajectory tracking for an Aerial Manipulator (AM) while ensuring the safe operation of the system under unknown bounded disturbances. The AM considered here is a 2-DOF…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
Objective: This paper presents a force control scheme for brief isotonic holds in an isometrically contracted muscle tissue, with minimal overshoot and settling time to measure its shortening velocity, a key parameter of muscle function.…
This paper presents a unified algorithm for motion and force control for a six degree-of-freedom spatial manipulator. The motion-force controller performs trajectory tracking, maneuvering the manipulator's end-effector through desired…
The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Uncertainty on the manipulated object can considerably impact the overall behavior of the system. In…