End-effector Cartesian stiffness shaping - sequential least squares programming approach

Autor: Knežević Nikola, Lukić Branko, Jovanović Kosta, Žlajpah Leon, Petrič Tadej

Publikováno v: Serbian Journal of Electrical Engineering, Vol 18, Iss 1, Pp 1-14 (2021)

Control of robot end-effector (EE) Cartesian stiffness matrix (or the whole mechanical impedance) is still a challenging open issue in physical humanrobot interaction (pHRI). This paper presents an optimization approach for shaping the robot EE Ca

Externí odkaz: https://doaj.org/article/8f37c41634d84faab7906989ada91e90

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Compensation of velocity and/or acceleration joint saturation applied to redundant manipulator

Autor: Omrčen, Damir, Žlajpah, Leon, Nemec, Bojan

Publikováno v: In Robotics and Autonomous Systems 2007 55(4):337-344

Advances in Service and Industrial Robotics : Raad 2023. [elektronicky zdroj]

Autor: Petrič, Tadej

Externí odkaz: Kolekce e-knih KNAV (Registrovani uzivatele: plny text online 5 minut, dalsi pristup na vyzadani. Registered users: full text online 5 minutes, further access on request.)

Kinematic Control of Redundant Robots in Changing Task Space.

Autor: Žlajpah, Leon

Publikováno v: Advances in Robot Design & Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16); 2017, p3-11, 9p