3 accepted papers
Previous calibration techniques often relied on specialized end-effector trajectory tracking devices, such as a laser tracker, which can be expensive and impractical in specific environments. Furthermore, research on the calibration of redundant manipulators has been relatively scarce compared to no
This letter introduces a novel method for calibrating serial robots using the Linearized Finite Screw Deviation (LFSD) model, aiming to minimize errors within the robot's workspace with a few end-effector postures. In contrast to prior studies that require several end-effector posture measurements,
This paper proposed an adaptive robust sliding mode control (SMC) with a nonlinear sliding perturbation observer (SPO) for robot manipulators. SPO estimates the perturbation (nonlinearities, uncertainties, and disturbances) with minimal system information and enhances the controller performance. The…