4 accepted papers
Fractional-order (FO) control, which employs non-integer orders of differintegration, has been adopted for its advantages in generalized controller design or reduced modeling complexity. For compliance control, FO impedance is employed as a generalization of conventional integer-order (IO) impedance
In this contribution the problem of vibration control is studied on the basis of a fundamental oscillatory system consisting of a mass spring system and an additional mass. The proposed control strategy couples the orbits of the two masses such that both masses stop, while simultaneously stabilizing…
Ensuring safety is a primary goal in physical human-robot interaction. In various collision experiments it was found that the robot's effective mass, velocity, and geometry are the key parameters which influence the human injury severity during an impact. Recently, a velocity controller was proposed…
Kinematic redundancy is a characteristic and beneficial property in collaborative robots nowadays as it enhances the flexibility and dexterity of the system. While the robot is manipulating an object, it is often necessary to kinematically reconfigure the robot, for example, when it obstructs the hu…