Adaptive variable impedance control for a modular soft robot manipulator in configuration space

DOI10.1007/S11012-021-01436-XzbMath1530.70011arXiv2110.04553OpenAlexW3208013307MaRDI QIDQ6113534

Mahmood Mazare, Unnamed Author, Silvia Tolu

Publication date: 9 August 2023

Published in: Meccanica (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2110.04553

zbMATH Keywords

robust adaptive controlmodel uncertaintyLyapunov theoryglobal stability analysisexternal forceback-stepping sliding modemomentum-based method

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

A continuous terminal sliding mode algorithm for robot manipulators: an application to force control

Cites Work

• Physical human-robot interaction force control method based on adaptive variable impedance
• Impedance Control: An Approach to Manipulation: Part I—Theory
• Impedance Control: An Approach to Manipulation: Part II—Implementation
• Impedance Control: An Approach to Manipulation: Part III—Applications

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