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This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion/force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of freedom of the end-effector of the manipulator. Therefore, the focus is on this contact degree of freedom, and a switching position-force controller is proposed...
The collaboration between a human operator and a robotic manipulator for performing a joint task is the main topic of this article. One of the most common tasks involves transporting and positioning a load. The proposed control strategy allows the co-manipulation of loads with unknown, time-varying mass. The control algorithm is of a cyclic nature, where each cycle is subdivided into two stages. The...
For a human operator, lifting and carrying a load can be a hazardous task with significant health-related risks. The collaboration between the human operator and a robotic device can provide an effective solution. This study proposes a control design for the robot such that it merely amplifies the force the human operator applies to the load. The algorithm is of a cyclic nature, where each cycle is...
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