5 accepted papers
Tracking desired force on various environmental surfaces is essential in many modern robotic applications. The constant impedance control (CIPC) has ability to realize this goal with clear environmental information (including stiffness and geometry), but failed when the information is not available.
This paper introduces a systematic approach to identifying a physically feasible set of robot dynamics parameters. The framework consists of four steps: 1) Identification of robot dynamics parameters using least squares combined with a linear friction model. 2) Construction of a weighting matrix bas
This letter investigates the time-optimal trajectory generation for a six-degrees-of-freedom articulated robot moving along a given parametric path. In the generation procedure, besides the velocity, acceleration, and joint torque, the jerk is also constrained to enhance the smoothness of the robot'
We propose a robot dynamic model to improve the accuracy of the identification, by introducing a friction model that takes into account the joint loads. Firstly, we analyze torque transfer in robot joints, assigning a physical meaning to motor inertia parameters. Then, we enhance the traditional fri
This letter focuses on the design and control of a novel seven-degree-of-freedom (7-DOF) robotic manipulator (D-Arm) to address the issue of backlash nonlinearity coupling unknown disturbance through the dual-motor anti-backlash control technology. Specifically, the first three axes of the D-Arm nea