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Dynamic parameter identification and adaptive control with trajectory scaling for robot-environment interaction
To improve the force/position control performance of robots in contact with the environment, this paper proposes a control scheme comprising dynamic parameter identification, trajectory scaling, and computed-torque control based on adaptive parameter estimation. Based on the Newton–Euler method, the...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Public Library of Science
2023
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10343087/ https://www.ncbi.nlm.nih.gov/pubmed/37440501 http://dx.doi.org/10.1371/journal.pone.0287484 |