Hybrid force/position control scheme for flexible joint robot with friction between and the end-effector and the environment

Farooq, Muhammad; Wang, Dao Bo

doi:10.1016/j.ijengsci.2008.06.010

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Cited by 16 publications

(1 citation statement)

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“…Hybrid force and motion control of serial manipulators having elastic joints were investigated by Ider [22], Hu and Vukovich [23], and M and Wang [24]. Adaptive control strategies were used by Chatlatanagulchai and Meckl [25], Jiang and Higaki [26], Yoo [27], Yena and Chang [28], and Fateh [29] for the control of elastic joint serial manipulators.…”

Section: Introductionmentioning

confidence: 99%

Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Kilicaslan

2015

Turk J Elec Eng & Comp Sci

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Section: Introductionmentioning

confidence: 99%

Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Kilicaslan

2015

Turk J Elec Eng & Comp Sci

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Control of Redundant Joint Structures Using Image Information During the Tracking of Non-Smooth Trajectories

Lledó

Pomares

Lorenzo-Lledó‬

et al. 2014

J Intell Robot Syst

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Visual information is increasingly being used in a great number of applications in order to perform the guidance of joint structures. This paper proposes an image-based controller which allows the joint structure guidance when its number of degrees of freedom is greater than the required for the developed task. In this case, the controller solves the redundancy combining two different tasks: the primary task allows the correct guidance using image information, and the secondary task determines the most adequate joint structure posture solving the possible joint redundancy regarding the performed task in the image space. The method proposed to guide the joint structure also employs a smoothing Kalman filter not only to determine the moment when abrupt changes occur in the tracked trajectory, but also to estimate and compensate these changes using the proposed filter. Furthermore, a direct visual control approach is proposed which integrates the visual information provided by this smoothing Kalman filter. This last aspect permits the correct tracking when noisy measurements are obtained. All the contributions are integrated in an application which requires the tracking of the faces of Asperger children.

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A Position and Torque Switching Control Method for Robot Collision Safety

Yang

et al. 2018

Int. J. Autom. Comput.

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Hybrid force/position control scheme for flexible joint robot with friction between and the end-effector and the environment

Cited by 16 publications

References 15 publications

Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Control of Redundant Joint Structures Using Image Information During the Tracking of Non-Smooth Trajectories

A Position and Torque Switching Control Method for Robot Collision Safety

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