Robot Control
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By exploiting an a priori estimate of the dynamic model of a manipulator, it is possible to command joint torques which ideally realize a Feedback Linearization (FL) controller. The exact cancellation may nevertheless not be achieved due to model uncertainties and possible errors in the estimation...
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In this paper, a new approach is proposed to optimally plan the motion along a parametrized path for flexible joint robots, i.e., robots whose structure is purposefully provided with compliant elements. State-of-the-art methods efficiently solve the problem in case of torque-controlled rigid robots...
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Recent research results on human-robot interaction and collaborative robotics are leaving behind the traditional paradigm of robots living in a separated space inside safety cages, allowing humans and robot to work together for completing an increasing number of complex industrial tasks. In this...
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