14 citations · 39 across the 10 of their papers we have counts for
3 papers · 1 filter
Set based velocity shaping for robotic manipulators
Ryan McGovern, Nikolaos Athanasopolous, Seán McLoone
We develop a new framework for trajectory planning on predefined paths, for general N-link manipulators. Different from previous approaches generating open-loop minimum time contro…
Fixed-time Integral Sliding Mode Control for Admittance Control of a Robot Manipulator
Yuzhu Sun, Mien Van, Stephen McIlvanna +2
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benef…
Adaptive Admittance Control for Safety-Critical Physical Human Robot Collaboration
Yuzhu Sun, Mien Van, Stephen McIlvanna +2
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle sa…