Related papers: Velocity-free task-space regulator for robot manip…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
This paper aims to address the open problem of designing a globally stable vision-based controller for robot manipulators. Accordingly, based on a hybrid mechanism, this paper proposes a novel task-space control law attained by taking the…
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…
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…
This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function…
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…
This paper is aimed at presenting a short survey of velocity-free control schemes for robot manipulators. A salient feature of this work is the implementation of this control schemes on a simulation model of the 3-DOF industrial PHANToM 1.5…
In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the separation of the kinematic and dynamic loops in the case of…
Assurance of asymptotic trajectory tracking in robotic manipulators with a smooth control law in the presence of unmodeled dynamics or external disturbance is a challenging problem. Recently, it is asserted that it is achieved via a…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
Task-space quadratic programming (QP) is an elegant approach for controlling robots subject to constraints. Yet, in the case of kinematic-controlled (i.e., high-gains position or velocity) robots, closed-loop QP control scheme can be prone…
We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control…
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…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
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…
Task-space Passivity-Based Control (PBC) for manipulation has numerous appealing properties, including robustness to modeling error and safety for human-robot interaction. Existing methods perform poorly in singular configurations, however,…
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…