Add to ORKGAbstract — We present a methodology to steer the end effector of a robotic manipulator, which is constrained in terms of joint rates, on the surface within the workspace. We develop controllers for stabilizing the end effector to a point, and for tracking a trajectory on this surface, while respecting the input constraints. We show that the resulting closed loop system is uniformly asymptotically stable and we verify our analytical development with computer simulations. I
This paper addresses the problem of tracking a prescribed geometric path by the end effector of a ki...
In this paper, we propose a solution to the motion control problem of a 2-link revolute manipulator ...
In this paper, a robust controller is developed for the position and force tracking of a single a-jo...
Abstract — We present a methodology to steer the end effector of a robotic manipulator, which is con...
Abstract — We develop non-smooth motion controllers that enable redundant manipulators to perform su...
Parallel force/position control constitutes an effective framework to handle interaction of a robot ...
This report addresses the problem of path planning and control of robotic manipulators which have jo...
International audienceThis paper deals with the problem of controlling a robotic system whose joints...
This paper presents a bounded torque control design to solve the set-point regulation problem for ro...
In this paper we present a methodology to drive the end effector of a robotic manipulator across the...
Trajectory tracking control of parallel manipulators is aimed in the presence of flexibility at the ...
Abstract — In this paper we present a methodology to drive the end effector of a robotic manipulator...
Abstract—In this paper we present a methodology to drive the end effector of a robotic manipulator a...
An approach is proposed to simultaneously control the contact forces exerted on a constraint surface...
A typical robot task is specified as a trajectory assigned to the end-effector. The solution must be...
This paper addresses the problem of tracking a prescribed geometric path by the end effector of a ki...
In this paper, we propose a solution to the motion control problem of a 2-link revolute manipulator ...
In this paper, a robust controller is developed for the position and force tracking of a single a-jo...
Abstract — We present a methodology to steer the end effector of a robotic manipulator, which is con...
Abstract — We develop non-smooth motion controllers that enable redundant manipulators to perform su...
Parallel force/position control constitutes an effective framework to handle interaction of a robot ...
This report addresses the problem of path planning and control of robotic manipulators which have jo...
International audienceThis paper deals with the problem of controlling a robotic system whose joints...
This paper presents a bounded torque control design to solve the set-point regulation problem for ro...
In this paper we present a methodology to drive the end effector of a robotic manipulator across the...
Trajectory tracking control of parallel manipulators is aimed in the presence of flexibility at the ...
Abstract — In this paper we present a methodology to drive the end effector of a robotic manipulator...
Abstract—In this paper we present a methodology to drive the end effector of a robotic manipulator a...
An approach is proposed to simultaneously control the contact forces exerted on a constraint surface...
A typical robot task is specified as a trajectory assigned to the end-effector. The solution must be...
This paper addresses the problem of tracking a prescribed geometric path by the end effector of a ki...
In this paper, we propose a solution to the motion control problem of a 2-link revolute manipulator ...
In this paper, a robust controller is developed for the position and force tracking of a single a-jo...