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The development of safe and dependable robots for physical human-robot interaction requires both the mechanical design of lightweight and compliant manipulators and the definition of motion control laws that allow compliant behavior in reaction to possible collisions, while preserving accuracy and performance during the motion in the free space. For these motivations, great attention has been posed...
In this paper, the inverted pendulum and cart system is effectively approximated by a Takagi-Sugeno (T-S) fuzzy model in a small range of angle near its equilibrium state. According to the proposed (T-S) fuzzy model of the inverted pendulum and cart system, a fuzzy controller designed with the parallel distributed pole assignment scheme is adopted to position the pendulum and cart at the desired states...
Brushless direct drive motors became very popular among robot designers due to the simple mechanical structure which avoids the use of a speed reducer. Speed reducers introduce undesired nonlinear phenomena in the motion transmission, thus imposing positioning errors and uncertain control stability. With the use of the direct drive motor backlash flexibility, and friction are diminished or eliminated,...
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