A5081023460- Robotic Mechanisms and Dynamics
- Soft Robotics and Applications
- Piezoelectric Actuators and Control
- Robotic Locomotion and Control
- Robotic Path Planning Algorithms
- Iterative Learning Control Systems
- Robot Manipulation and Learning
- Hydraulic and Pneumatic Systems
- Control Systems in Engineering
- Control and Dynamics of Mobile Robots
- Teleoperation and Haptic Systems
Harbin Institute of Technology
2021-2024
State Key Laboratory of Robotics and Systems
2021-2023
When a manipulator works in dynamic environments, it may be affected by obstacles and cause danger to people around. This requires the able plan obstacle avoidance motion real time. Therefore, problem solved this paper is with whole body of redundant manipulator. The difficulty how model reflect relationship between obstacle. In order describe accurately occurrence conditions collision, we propose triangular collision plane, predictable based on geometric configuration Based model, three...
This study presents a cost-effective sensorless whole-body compliance control strategy for collaborative manipulator. The realizes decoupled adjustable compliant effects, namely, stiffness, damping, and inertia controls, under single framework. inherent position controller is retained, which ensures smooth transition between normal operation control. two features can greatly simplify the customization of manipulator algorithms. A modified disturbance observer based on generalized momentum...
The kinematic calibration of the manipulator is one main methods to improve absolute positioning accuracy end manipulator. Due disadvantages current methods, such as excessively expensive measuring equipment, complex process and numerous calculations, exploring a new method has become research focus in recent years. This paper proposes novel based on acceleration for first time. derives relationship between parameters by Jacobian matrix. After obtaining manipulator's joints data acquired...