Accurate trajectory tracking in the task space is critical in many robotics applications. Model-based robot controllers are able to ensure very good tracking but lose effectiveness in the presence of model uncertainties. On the other hand, online learning-based control laws can handle poor dynamic...
Robot Control
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We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active and passive degrees of freedom. The generic iteration of...
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The dynamic uncertainties and disturbances characterizing continuum soft robots call for the derivation of simple and possibly information-free controllers. We propose an iterative learning control law for shape regulation of continuum soft robots consisting of a PD action and a feedforward term,...
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This paper presents a unified approach to detection and isolation of both actuator faults and unexpected collisions for a two-link robot with a flexible forearm. The proposed approach is sensorless, i.e., no dedicated exteroceptive sensors are considered, and is based on the design of residuals to...
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We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These hard bounds should never be violated, are treated equally and...
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We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy resolution at the velocity level. In addition to hard bounds on joint space motion, we consider also Cartesian box constraints that cannot be violated at any time. The modified algorithm combines all...
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A control system based on multiple sensors is proposed for the safe collaboration of a robot with a human. New constrained and contactless human-robot coordinated motion tasks are defined to control the robot end-effector so as to maintain a desired relative position to the human head while...
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This paper investigates the design of reduced-order observers for robot manipulators. Observer stability conditions are obtained based on a Lyapunov analysis. The proposed observer is enhanced with a hybrid scheme that may adjust the gains to cope with possible unbounded velocities of the robot...
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Recent research results on human-robot interaction and collaborative robotics are leaving behind the traditional paradigm of robots living in a separated space inside safety cages, allowing humans and robot to work together for completing an increasing number of complex industrial tasks. In this...
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A linear-quadratic optimal control problem is considered for the infinite-dimensional model of a one-link flexible arm. Two boundary inputs are assumed to be available, namely the joint torque at the link base and a transverse force at the tip of the link. The problem is formulated and solved using...