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Decentralized Control of Harmonic Drive Based Modular Robot Manipulator using only Position Measurements: Theory and Experimental Verification 期刊论文
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2017, 卷号: 88, 期号: 1, 页码: 3-18
Authors:  Dong, Bo;  Liu, Keping;  Li, Yuanchun
Favorite  |  View/Download:12/0  |  Submit date:2019/12/16
Modular robot manipulator  Robot decentralized control  Harmonic drive  Velocity estimation  Model uncertainty compensation  
Torque Sensorless Force/position Decentralized Control for Constrained Reconfigurable Manipulator with Harmonic Drive Transmission 期刊论文
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2017, 卷号: 15, 期号: 5, 页码: 2364-2375
Authors:  Zhou, Fan;  Dong, Bo;  Li, Yuanchun
Favorite  |  View/Download:8/0  |  Submit date:2019/12/16
Constrained reconfigurable manipulator  dynamic output feedback  force/position decentralized control  harmonic drive  linear matrix inequality (LMI)