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Combined Position & Force Control for a robotic manipulator
2007 Edition, June 1, 2007 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint...

Hybrid impedance control of robotic manipulators
1987 Edition, Volume 4, January 1, 1987 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This work presents a new algorithm for controlling the contact forces of a robotic manipulator. The algorithm, to be called hybrid impedance control (HIC), combines two fundamental force control strategies; hybrid...

Finite-Time Position Control of Robotic Manipulators
2018 Edition, July 1, 2018 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper we offer the position controller of robotic manipulators subject to finite-time convergence. The feedback controller is an extension of the traditional PD control of robotic manipulators. Furthermore, we introduce a continuous function...

Force Control Of Robotic Manipulators
1988 Edition, Volume 1, January 1, 1988 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper, the instability problem in force control system of robotic manipulators is studied and two methods of improving system stability are suggested. A unified force controller is proposed, in which, force derivative feedback and...

Combined adaptive control of constrained robot manipulators
1993 Edition, Volume 2, January 1, 1993 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Two reduced, unconstrained robot models, in which the constraints are satisfied automatically, are introduced. The force tracking error is dependent on both the position tracking error and the estimated parameter error, so that in the constrained adaptive robot...

GMS friction compensation in robot manipulator
2013 Edition, November 1, 2013 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper deals with the friction compensation in a two degree of freedom (DOF) planar robot manipulator. The friction model is based on the newest and most realistic model which is described by (Generalized Maxwell Slip) GMS friction model. An online least square algorithm...

Low-cost accelerometers for robotic manipulator perception
2010 Edition, October 1, 2010 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

We present a series of experiments which explore the use of consumer-grade accelerometers as joint position sensors for robotic manipulators. We show that 6- and 7-dof joint angle estimation is possible by using one 3-d accelerometer for each pair of joints...

Development of a novel intelligent robotic manipulator
1987 Edition, Volume 7, June 1, 1987 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper describes the design features of a new robotic manipulator incorporating a novel spherical motor capable of three degrees of motion in a single joint for purposes of dexterous actuation, a loadable device at the end of the wrist actuator...

Predictive control of robotic manipulators
2002 Edition, Volume 1, January 1, 2002 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Robot manipulators present restrictions on their performance, such as the maximum torque the motors can apply, limitations in their position, speed, acceleration, etc. This paper studies the application of a multivariable constrained predictive controller for...

D-C motor driven robotic manipulator control
1985 Edition, December 1, 1985 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

A controller design for a dc motor driven robotic manipulator is presented. The main difficulties are caused by the Coulomb frictions, disturbance due to the gravitational pull and the rather stiff spring effect of the link between the drive motor and the...

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