Journal ArticleDOI
Reaching for redundant arms with human-like motion and compliance properties
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TLDR
A novel controller for target reaching of redundant arms without trajectory planning, guaranteeing desired completion time and accuracy requirements without the need for trajectory planning and prior knowledge of robot dynamics is proposed.About:
This article is published in Robotics and Autonomous Systems.The article was published on 2014-12-01. It has received 21 citations till now. The article focuses on the topics: Control theory.read more
Citations
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Proceedings Article
A Novel Sliding Mode Control for Human Upper Extremity with Gravity Compensation.
Ting Wang,Wen Qin +1 more
TL;DR: The results revealed that the human upper extremity can very well accomplish the reaching moments with proposed sliding mode controller.
References
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Journal ArticleDOI
The coordination of arm movements: an experimentally confirmed mathematical model.
Tamar Flash,Neville Hogan +1 more
TL;DR: A mathematical model is formulated which is shown to predict both the qualitative features and the quantitative details observed experimentally in planar, multijoint arm movements, and is successful only when formulated in terms of the motion of the hand in extracorporal space.
Journal ArticleDOI
Spatial control of arm movements
TL;DR: Human subjects were instructed to point one hand to different visual targets which were randomly sequenced, using a paradigm which allowed two degrees of freedom, and trajectories of the hand in space were observed.
Journal ArticleDOI
Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance
TL;DR: It is shown that stabilization of the ldquounconstrainedrdquo system is sufficient to solve the stated problem and guarantees a uniform ultimate boundedness property for the transformed output error and the uniform boundedness for all other signals in the closed loop.
Book
Modelling and Control of Robot Manipulators
TL;DR: An introduction to kinematics Differential Kinematics and Statics Dynamics Trajectory Planning Motion Control Interaction Control Actuators and Sensors Control Architecture Appendices.
Journal ArticleDOI
Task-priority based redundancy control of robot manipulators
TL;DR: The concept of task priority in relation to the inverse kinematic problem of redundant robot manipulators is introduced and the effectiveness of the proposed redundancy control scheme is shown.
Related Papers (5)
Ensuring safety in hands-on control through stability analysis of the human-robot interaction
Luca Bascetta,Gianni Ferretti +1 more