Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are
ubiquitous simplifications introduced to reduce the complexity of mechanics models despite …

This work considers the control of a manipulator with the aim of executing desired time-
varying motion–force trajectories in the presence of a stiff environment. In several situations …

We describe a novel 3D path following control framework for articulated robots in
applications where constant speed travel along a path is desirable, such as robotic surface …

Many daily life tasks require precise control when making contact with surfaces. Ensuring a
smooth transition from free motion to contact is crucial as incurring a large impact force may …

In the presence of uncertain constraint and robot model, an adaptive controller with robust
motion/force tracking performance for constrained robot manipulators is proposed. First …

An infinitely rigid unitary mass (particle) is considered, moving on a planar region delimited
by a rigid elliptical barrier (elliptical billiards) under the action of proper control forces. A …

In this note, Lyapunov-based methods are used to design a class of energy-based nonlinear
controllers to globally asymptotically stabilize/regulate an underactuated mechanical system …

Research on robot trajectory correction on a curved surface has seen a surge in the last two
decades to deal with issues in many machining processes. Due to the intricacies involved in …

Almost all known robots fear impacts. Unlike humans, robots keep guarded motions to near
zero-velocity prior to establishing contacts with their surroundings. This significantly slows …

Surface finishing of freeform surfaces is predominately a manual operation that requires a
considerable amount of operator skill; automation of this process has many benefits …