Kinematic-Model-Free Orientation Control for Robot Manipulation Using Locally Weighted Dual Quaternions

Manipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach

Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...

Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions

In this paper, we address the rigid body pose stabilization problem using dual quaternion formalism. We propose a hybrid control strategy to design a switching control law with hysteresis in such a way that the global asymptotic stability of the closed-loop system is guaranteed and such that the global attractivity of the stabilization pose does not exhibit chattering, a problem that is present...

manipulation control of a flexible space free flying robot using fuzzy tuning approach

cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. during such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. therefore, to design and dev...

Locally Weighted Learning Methods for Non-rigid Robot Control

Locally Weighted Regression for Control

Learning control refers to the process of acquiring a control strategy for a particular control system and a particular task by trial and error. It is usually distinguished from adaptive control [1] in that the learning system is permitted to fail during the process of learning, resembling how humans and animals acquire new movement strategies. In contrast, adaptive control emphasizes single tr...