Abstract: A heavy payload attached to the wrist force/moment (F/M) sensor of a manipulator can cause the conventional impedance controller to fail in establishing the desired impedance due to the noncontact ...

Abstract: The unifying idea for most model-based control approaches for parallel mechanism is to derive a minimal-order dynamics model of the system and then design the corresponding controller. The problem ...

Abstract: The equality and inequality constraints on constraint force and/or the actuator force/torque arise in several robotic applications, for which different controllers have been specifically developed. ...

Abstract: A gauge-invariant formulation for deriving the dynamic equations of constrained multibody systems in terms of (reduced) quasivelocities is presented. This formulation does not require any weighting ...

Abstract: This paper presents a combined scheme of identification and robust torque control for rotary hydraulic actuators. The composite controller consists of a dynamic feedback linearizing inner loop ...