Abstract:n
this work, the uncertainty and disturbance estimator (UDE)-based robust region
reaching controller for a robot manipulator is developed to achieve the moving
target region trajectory tracking and complaint human robot interaction inside
the target region. The regional feedback error is derived from the potential
function to drive the robot manipulator end effector converging into the target
region. Under the back-stepping control framework, the UDE is fused into the
region tracking control law to estimate an… Show more
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