6 accepted papers
Among the many choices in the matrix-vector factorization of the Coriolis and centripetal terms satisfying the skew-symmetry condition in system dynamics, the unique factorization, called Christoffel-consistent (CC) factorization, has been proposed. We derived the unique CC factorization in the Lie
Impedance control is a widely adopted approach that ensures the compliant behavior of robot manipulators as they interact with their environment according to specifically designed dynamics. For tasks involving six degrees of freedom (DoF), it is crucial to appropriately manage the position and orien…
Direct teaching in collaborative manipulators, an essential method for intuitive trajectory control, faces significant challenges due to friction in robot joints. To address this, we present a novel friction compensation framework to improve direct teaching methods for robots. Our approach focuses o
This paper proposes an optimization-based control framework for the torque-controlled robot, which can satisfy the joint position, velocity, and acceleration constraints under a bounded jerk. The optimization filter is incorporated as a module to modify the nominal controller output to ensure joint…
In unilateral teleoperation systems, robots often face challenges when performing tasks with specific geometric constraints. These constraints restrict the robot's movements to certain directions, requiring accurate control of its position and orientation. If the operator's commands do not consider
Safety of taking medicine prescribed differently to each patient in hospital relies on the discernment of medical professionals who deals with measuring pill quantity, packaging, and distributing. It is difficult and time consuming to keep track of medication record of each patient. Also, medication…