Robust active compliance control for a robot hand
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Summary
A robust and active compliance control is proposed via an Integral Sliding Mode Controller (ISMC) to achieve safe object grasping via a model reference approach where a virtual mass-spring damper system can be used to design a compliant control.
- Type
- dissertation
- Published
- 2013-03-01
- Cited by
- 2
- References
- 240
- Access
- Open access
- OpenAlex
- https://openalex.org/W42834744
- Semantic Scholar
- https://api.semanticscholar.org/CorpusID:107647447
Keywords
Control theory (sociology), Integral sliding mode, Kinematics, Control engineering, PID controller
References
- ELECTRONICALLY CONTROLLED MANIPULATOR
- Integral sliding mode control for trajectory tracking of a unicycle type mobile robot
- FUNDAMENTALS OF GENERAL-PURPOSE REMOTE MANIPULATORS
- Trajectory/force control for robotic manipulators using sliding-mode and adaptive control
- Applied Nonlinear Control
- Sufficient stability condition for hybrid position/force control
- Robot dynamics and control
- Dynamic Friction Models and Control Design
- Development of human symbiotic robot: WENDY
- Feedback control of a 3-DOF planar underactuated manipulator
- A robot compliant wrist system for automated assembly
- Robotic grasping and fine manipulation
- A Mathematical Introduction to Robotic Manipulation
- Sliding Mode Control In Engineering
- Differential Equations with Discontinuous Righthand Sides
- Newton-type algorithms for robot motion optimization
- Computing of the sub-optimal grasping forces for manipulation of a rough object by multifingered robot hand
- Adaptive friction compensation for systems with generalized velocity/position friction dependency
- Dynamic modeling and force/position control for the Anthrobot dextrous robotic hand
- Implementing a force strategy for object re-orientation
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