Adaptive Impedance Decentralized Control of Modular Robot Manipulators for Physical Human-robot Interaction

For the problem of dynamic contact force tracking control under physical human-robot interaction (pHRI), we propose a dual closed-loop adaptive decentralized control framework. The dynamic model of modular robot manipulator (MRM) subsystem is established based on joint torque feedback (JTF) technolo...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Veröffentlicht in:	Journal of intelligent & robotic systems 2023-11, Vol.109 (3), p.48, Article 48
Hauptverfasser:	Dong, Bo, Jing, Yusheng, Zhu, Xinye, Cui, Yiming, An, Tianjiao
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Artificial Intelligence Closed loops Contact force Control Control algorithms Controllers Cooperation Decentralized control Decomposition Dynamic models Electrical Engineering Engineering Human engineering Manipulators Mechanical Engineering Mechatronics Neural networks Regular Paper Robot arms Robot control Robotics Robots Sensors Subsystems Teaching methods Tracking control Tracking errors Uncertainty
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Schreiben Sie den ersten Kommentar!