Selma Benftima — accepted AI-conference papers

2025

Real Time Mass Estimation of the Payload of a 3-$DOF$ Flexible Links Robot Using an Algebraic Technique Robust to Sensor Offset

Selma Benftima, Saddam Gharab, Andrés San-Millán, Vicente Feliú Batlle

RA-L 2025

Accurate knowledge of a robot's payload mass is crucial for tasks and necessary for adjusting controller gains to improve trajectory tracking, especially in Flexible Link Robots (<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notat

Cited by 1 Source ↗Scholar ↗

2024

Adaptive Smith Predictor Fractional Control of a Tele-operated Flexible Link Robot *

Saddam Gharab, Selma Benftima, Vicente Feliú Batlle

IROS 2024

This work addresses the adaptive Smith predictor control of a tele-operated robot composed of a flexible link. Measurements of the angle of the motor that moves the arm by using an encoder and the moment at the base of the arm by using two strain gauges are fed back. These strain gauges normally pre

Cited by 0 Source ↗Scholar ↗