Decentralized robust interaction control of modular robot manipulators via harmonic drive compliance model-based human motion intention identification

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Decentralized robust control of robot manipulators with harmonic drive transmission and application to modular and reconfigurable serial arms

In this paper, we propose a decentralized robust control algorithm for modular and reconfigurable robots (MRRs) based on Lyapunov’s stability analysis and backstepping techniques. In using decentralized control schemes with robot manipulators, each joint is considered as an independent subsystem, and the dynamical effects from the other links and joints are treated as disturbance. However, ther...

Globally Adaptive Decentralized Control of Robot Manipulators

In this paper, we develop a new adaptive decentralized controller of robot manipulator for trajectory tracking. With the nonlinear control terms, the closed-loop system is globally stable. Furthermore, the adaptive decentralized controller is considered with a a-modification term such that it becomes robust to the noise in practical implementation. Finally, a numerical study is provided to veri...

Motion Control of Robot Manipulators

Adaptive Decentralized Compliant Control of Robot Manipulators

In this paper, we develop an adaptive decentralized compliant control of robot manipulator. The robot manipulator is in contact with the environment and the contact force is normal to the contact plane. When the environment stiffness is given, an adaptive decentralized compliant controller is designed based on a Lyapunov based method such that both the force tracking error and the complementary...