In this work, a robust fast finite-time sliding mode control (RFFTSMC) approach is developed
for industrial robot manipulator (IRM) system involved for tasks of interactive manipulation …

In order to synchronize human and machine positions and minimize human-machine
interaction forces in exoskeleton control, we present a two-degree-of-freedom (2-DOF) …

In the mirror milling process of large thin-walled parts, maintaining a constant supporting
force is crucial for improving the workpiece local stiffness to suppress vibration. Aiming at the …

In the present paper a decentralized control scheme that relies on sliding mode (SM) and
high gain control methodologies to regulate the load voltage in buck-based islanded direct …

The robotic impedance control is currently one of the main control methods, its main
characteristic is that it can make manipulators move to the appointed position quickly and …

This thesis studies the mathematical description and the low-level control structures for
underwater robotic systems performing motion and interaction tasks. The main focus is on …

Simultaneous force and position control of robots interacting with a rigid environment has
been broadly studied assuming several contact force models, being the differential algebraic …

位移与压力之间的稳定快速切换直接影响自动化设备的运动速度与定位精度.
针对传统直接力/位切换的不足, 提出了一种基于速度阻尼思想的位移与压力切换控制方法 …

Stable and fast switching between displacement and pressure will directly affect precision
and velocity of automated equipment. Switching control between displacement and …

As the demands for more robot's complex tasks were increased, force and torque control
had become necessary. When contact forces are present, the performance of the trajectory …