4 accepted papers
This paper presents a task-space admittance controller applicable to redundant manipulators equipped with torque sensors. It extends Kikuuwe's (2019) torque-bounded admittance controller (TBAC), which allows for imposing explicit limits on the joint actuator torques without causing unsafe behaviors …
This paper proposes a new variable gain sliding mode filter augmented by variable windowing for achieving smooth and reactive response over a broad range of input frequencies. The proposed filter can be seen as a synergistic combination of Kikuuwe et al.'s [1] sliding mode filter with varying gain a
The simulation of static friction, and especially the effect of stiction, is cumbersome to perform in discrete-time due to its discontinuity at zero velocity and its switching behavior. However, it is essential to achieve reliable simulations of friction to develop compliant torque control algorithm…
An efficient method to compute the joint friction torques as well as the external contact forces in forward dynamics simulation of a robot manipulator is proposed. The existence of friction inside mechanical gears substantially affects behaviors of the robot, and hence, should be taken into account.