7 accepted papers
In this work, we propose a singularity-robust whole-body control framework that ensures smooth task transitions while maintaining strict priorities. The weighted generalized inverse is adopted to derive a hierarchical control law compatible with singular and redundant tasks. Moreover, a smooth activ…
Modern Lightweight robots are constructed to be collaborative, which often results in a low structural stiffness compared to conventional rigid robots. Therefore, the controller must be able to handle the dynamic oscillatory effect mainly due to the intrinsic joint elasticity. Singular perturbation
Adaptive control can significantly improve tracking performance of robot manipulators subject to modeling errors in dynamics. In this letter, we propose a new framework combining the composite adaptive controller using a natural adaptation law and an extension of the adaptive variance algorithm (AVA
Adaptive control of robot manipulators based on the use of a sliding variable and the passivity property of the dynamic equations was originally designed and successfully applied to task tracking in joint space few decades ago. Surprisingly, no extension is available to date for the multi-task case
Assistive robots aim to help humans with impairments execute motor tasks in everyday household environments. Controlling the end-effector of such robots directly, for instance with a joystick, is often cumbersome. Shared control methods, like Shared Control Templates (SCTs) [1], have therefore been
Modern robotic systems with a large number of actuated degrees of freedom can be utilized to perform several tasks at the same time while following a given order of priority. The most frequently used method is to apply null space projections to realize such a strict hierarchy, where lower priority t