相关论文: Circular-Line Trajectory Tracking Controller for M…
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…
In this work, a new SMS is proposed to achieve high tracking and suitable robustness. However, the chattering phenomenon should be regarded as the main drawback of the SMC. Therefore, a new compound control algorithm is used for reducing…
For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…
Due to the several applications on Human-machine interaction (HMI), this area of research has become one of the most popular in recent years. This is the case for instance of advanced training machines, robots for rehabilitation, robotic…
A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…
This paper considers real-time control and learning problems for finite-dimensional linear systems under binary-valued and randomly disturbed output observations. This has long been regarded as an open problem because the exact values of…
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…
This paper proposes a novel control approach composed of sinusoidal reference trajectories and trajectory tracking controller for the second-order chained form system. The system is well-known as a canonical form for a class of second-order…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…
Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
Trajectory tracking for an Omni-drive robot presents a challenging task that demands an efficient controller design. This paper introduces a self-optimizing controller, Type-1 fuzzyPID, which leverages dynamic and static system response…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…