In robotic manipulators, feedback control of nonlinear systems with fast finite-time
convergence is desirable. However, because of the parametric and model uncertainties, the …

The objective of this paper is to propose a novel approximate solution for determining the
reactions of joints in mechanical systems, which involves the influence of Coulomb friction. It …

This article proposes a collision detection algorithm without external sensors that can detect
potential collisions in man–robot interaction. The algorithm is based on a modified first-order …

High‐performance robot control is one of the most investigated topics in both research and
industry. Being able to compensate for robot dynamics is indeed one major challenge. Joint …

The objective of this paper is the identification of generalised Maxwell slip (GMS) friction
model using a new proposed switching function. The GMS friction model is composed of two …

为解决机械臂标定效率低的问题, 针对机械臂实时标定中的作业-标定共用轨迹的规划方法进行
了研究. 首先, 选择立体视觉作为测量方式, 减少对机械臂末端的物理约束; 然后 …

针对电子装配机器人高速高精要求, 提出一种能够利用柔性铰链变形补偿轴承摩擦死区,
实现高精度定位运动的刚柔耦合关节SCARA 机器人的概念设计, 并建立考虑柔性铰链变形与 …

In the last decades, several friction models suitable for control purposes have been
proposed, which are able to represent most of the observed friction behavior. However, this …

This paper proposed a new approach for the joint friction estimation of non-slipping walking
biped robots. The proposed approach is based on the combination of a measurement-based …

In this work, an experimental friction forces were generated and then inserted in the joints of
a robot manipulator. The artificial neural network (ANN) is used for the estimation of the …