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基于变阻抗控制的冗余驱动并联机器人多目标内力优化 期刊论文
自动化学报, 2023, 卷号: 49, 期号: 5, 页码: 1099-1115
Authors:  梁旭;  苏婷婷;  侯增广;  刘圣达;  章杰;  何广平
Adobe PDF(2614Kb)  |  Favorite  |  View/Download:60/20  |  Submit date:2024/05/09
冗余驱动  并联机器人  时变阻抗控制  间隙消除  多目标优化  
Finite-Time Observer-Based Variable Impedance Control of Cable-Driven Continuum Manipulators 期刊论文
IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS, 2022, 卷号: 52, 期号: 1, 页码: 26-40
Authors:  Liang, Xu;  He, Guangping;  Su, Tingting;  Wang, Weiqun;  Huang, Can;  Zhao, Quanliang;  Hou, Zeng-Guang
Favorite  |  View/Download:275/0  |  Submit date:2022/02/16
Manipulators  Impedance  Kinematics  Observers  Manipulator dynamics  Robots  Task analysis  Compliant robots  continuum manipulators  control  finite-time stabilization  variable impedance