5 accepted papers
This paper proposes a control strategy for flexible link manipulators preserving high tracking accuracy in free motion, while ensuring smooth and safe behavior in scenarios involving physical interaction or large positional errors, based on the VB-PSMC. The scheme is extended to compensate for the m
This paper proposes a control strategy for flexible link manipulators preserving high tracking accuracy in free motion, while ensuring smooth and safe recovery in scenarios involving physical interaction or large positional errors, based on VB-PSMC. The scheme is extended to compensate for the manip…
Research on human-friendly robots focuses on safety through software and hardware. Hardware-based safety offers a significant advantage over software-based safety if an accurate hardware model is integrated into the solution. Design of elastic and off-joint actuation has established safety by hardwa
In collaborative robotics, the safety of humans interacting with cobots is crucial. There is a need for collaborative robots that can move quickly while still being safe. This paper introduces the use of a kinematically redundant actuator in impedance control mode to reduce collision forces, aiming
Redundant actuators enable to distribute power among two motors, which can be selected optimally in terms of efficiency. We propose a methodology that finds effective combinations of motors and gearboxes for a dynamic load, taking into account the constraints, inertia, and efficiency of each compone