3 accepted papers
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint dynamics compounds the challenge. In this paper, we present a new c…
Large industrial robots offer an attractive option for deep rolling in terms of cost and flexibility. These robots are typically designed for fast and precise motion, but may be commanded to perform force control by adjusting the position setpoint based on the measurements from a wrist-mounted force
Fast and precise motion control is important for industrial robots in manufacturing applications. However, some collaborative robots sacrifice precision for safety, particular for high motion speed. The performance degradation is caused by the inability of the joint servo controller to address the u…