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The model based passivity controller has been proved to be an useful method to deal with the time delay problem in teleoperation systems. However, this method is optimal only when attaching the controller to a single degree of freedom master slave teleoperation system. In the present paper, an extension of the controller to a multi degree of freedom master slave system is presented. By composing an...
Rotor flying manipulator (RFM) is a system composed of a rotorcraft and a manipulator. RFM possesses great potential applications and thus has got much concern of the researchers all over the world. However, controller design of the RFM is challenging because of the dynamical coupling between the rotorcraft and the manipulator perplexes the whole system model structure, so the flight performance of...
Nowadays, robotic systems make use of compliant joint actuation to provide safe human-robot physical interactions, and in general, to improve the friendliness of the mechanism. However, note that with the introduction of these passive flexible elements, the actuators (which input the control actions) can not explicitly set the driving torque of the joints; for these types of systems, the difference...
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