Robot Control for Task Performance and Enhanced Safety under Impact

Robot Control for Task Performance and Enhanced Safety under Impact

A control law combining motion performance quality and low stiffness reaction to unintended contacts is proposed in this work. It achieves prescribed performance evolution of the position error under disturbances up to a level related to model uncertainties and responds compliantly and with low stif...

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Bibliographic Details
Main Authors: Yiannis eKarayiannidis, Leonidas eDroukas, Dimitrios ePapageorgiou, Zoe eDoulgeri
Format: Article
Language:English
Published: Frontiers Media S.A. 2015-12-01
Series:Frontiers in Robotics and AI
Subjects:
Safety
Control
Motion performance
Variable stiffness
Unintentional contact
Online Access:http://journal.frontiersin.org/Journal/10.3389/frobt.2015.00034/full

Internet

http://journal.frontiersin.org/Journal/10.3389/frobt.2015.00034/full

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