6 accepted papers
This paper presents a robust impedance shaping controller for teleoperation systems. An integral sliding mode control law (ISM) is employed together with standard robot inverse dynamics to reject disturbances and uncertainties acting on the robot model and obtain an ideal fully-decoupled system. Hig…
In human-robot collaboration, the robot is required to provide assistance to the user by facilitating task execution. However, due to stability requirements, a well-damped admittance behavior of the robot is necessary during interaction, thus inducing fatigue in the operator. While available schemes…
Visual servoing in telerobotics provides information to the operator about the remote location and assists in the task execution to reduce stress on the user. Occlusions in this scenario can, on the one hand, lead to the visual servoing failure, and, on the other hand, degrade the user experience an
This paper addresses the problem of robot implicit force control by means of set invariance theory. The proposed control law improves the invariance control approach by avoiding the definition of a nominal stabilizing controller, while simultaneously ensuring the absence of output overshoots with re
The present paper exploits set invariance theory to address the problem of robot implicit force control in presence of stiffness uncertainty in the interaction model. A numerical approach is introduced to compute the invariance function for constraints with arbitrary relative degree. The method is t…
The increasing demand for flexible robotized solutions in SMEs motivates the research on innovative and general control algorithms suitable for a large variety of applications. Particularly suited for this are constraint-based trajectory generation and control methods, which have been deeply investi