Abstract:In this paper, a null space controller is proposed to achieve a compliant motion behaviour of a redundant manipulator for a safety human-robot interaction. The robot endeffector is controlled using a prescribed performance controller, such that the transient tracking performance of the main task is guaranteed. The compliant behaviour of the robot motion is ensured by using a null space control law, by which the external torque acting on the main task can be projected to a null space and the effects of the exte… Show more
Set email alert for when this publication receives citations?
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.