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Book review of J. Baeten and J. De Schutter, Springer Tracts in Advanced Robotics, “Integrated Visual Servoing and Force Control: The Task Frame Approach”
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High-order sliding control of mechanical systems: Theory and experiments
No full textIn this paper, the control of a class of mechanical systems via output feedback is considered. The proposed control strategy is
based on a second-order sliding manifold MIMO approach, that is used to design a robust multivariable linear controller. A
trajectory tracking problem is faced and a suitable time-varying sliding surface is defined in order to deal with the so-called peaking
phenomenon resulting from possible unmatched initial conditions of the reference trajectory. Experimental results are carried out on
a 6-dof Comau SMART-3 S robot manipulator. As confirmed by experiments, the proposed control strategy exhibits high tracking
accuracy and strong robustness properties against plant uncertainties and external disturbances
Customization of low-cost hexapod robots based on optimal design through inverse dynamics computation
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Comments on the paper “Directions Toward Effective Utilization of Tactile Skin: A Review”
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