FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2605565837> ?p ?o ?g. }

• W2605565837 abstract "In this article, a decentralized control strategy is presented for harmonic drive–based modular and reconfigurable robots with uncertain environment contact. Unlike conventional methods that rely on robot–environment contact model or force/torque sensing, this article addresses the problem of controlling modular and reconfigurable robots in contact with uncertain environment using only encoder data of each joint module. By employing a control-oriented harmonic drive model, the dynamic model of modular and reconfigurable robot is formulated as a synthesis of interconnected subsystems, in which the interconnected joint couplings are with small magnitudes. Based on the integral sliding mode control technique and the adaptive super-twisting algorithm, the decentralized controller is designed to compensate model uncertainty in which the up-bound is unknown. The stability of the modular and reconfigurable robot system is proved using Lyapunov theory. Finally, simulations are conducted for 2-degree-of-freedom modular and reconfigurable robots with different configurations under the situations of dynamic contact and collision to investigate the advantage of the proposed approach." @default.
• W2605565837 created "2017-04-28" @default.
• W2605565837 creator A5023077721 @default.
• W2605565837 creator A5029332960 @default.
• W2605565837 creator A5074758085 @default.
• W2605565837 date "2017-04-01" @default.
• W2605565837 modified "2023-10-14" @default.
• W2605565837 title "Decentralized control for harmonic drive–based modular and reconfigurable robots with uncertain environment contact" @default.
• W2605565837 cites W1972590691 @default.
• W2605565837 cites W1975608511 @default.
• W2605565837 cites W1984858805 @default.
• W2605565837 cites W1991119893 @default.
• W2605565837 cites W2004017403 @default.
• W2605565837 cites W2008719508 @default.
• W2605565837 cites W2021762602 @default.
• W2605565837 cites W2023339343 @default.
• W2605565837 cites W2026972987 @default.
• W2605565837 cites W2030913535 @default.
• W2605565837 cites W2045013876 @default.
• W2605565837 cites W2048576570 @default.
• W2605565837 cites W2054911067 @default.
• W2605565837 cites W2056849404 @default.
• W2605565837 cites W2057216152 @default.
• W2605565837 cites W2060636323 @default.
• W2605565837 cites W2085365955 @default.
• W2605565837 cites W2086105717 @default.
• W2605565837 cites W2111443159 @default.
• W2605565837 cites W2113766349 @default.
• W2605565837 cites W2114093378 @default.
• W2605565837 cites W2144636513 @default.
• W2605565837 cites W2150024155 @default.
• W2605565837 cites W2156968214 @default.
• W2605565837 cites W2158172925 @default.
• W2605565837 cites W2320098026 @default.
• W2605565837 cites W2341801823 @default.
• W2605565837 cites W2342443043 @default.
• W2605565837 cites W2343736713 @default.
• W2605565837 cites W2402361912 @default.
• W2605565837 cites W2620145291 @default.
• W2605565837 doi "https://doi.org/10.1177/1687814017696045" @default.
• W2605565837 hasPublicationYear "2017" @default.
• W2605565837 type Work @default.
• W2605565837 sameAs 2605565837 @default.
• W2605565837 citedByCount "7" @default.
• W2605565837 countsByYear W26055658372018 @default.
• W2605565837 countsByYear W26055658372019 @default.
• W2605565837 countsByYear W26055658372020 @default.
• W2605565837 countsByYear W26055658372021 @default.
• W2605565837 crossrefType "journal-article" @default.
• W2605565837 hasAuthorship W2605565837A5023077721 @default.
• W2605565837 hasAuthorship W2605565837A5029332960 @default.
• W2605565837 hasAuthorship W2605565837A5074758085 @default.
• W2605565837 hasBestOaLocation W26055658371 @default.
• W2605565837 hasConcept C101468663 @default.
• W2605565837 hasConcept C111919701 @default.
• W2605565837 hasConcept C121332964 @default.
• W2605565837 hasConcept C127413603 @default.
• W2605565837 hasConcept C127934551 @default.
• W2605565837 hasConcept C133731056 @default.
• W2605565837 hasConcept C154945302 @default.
• W2605565837 hasConcept C19966478 @default.
• W2605565837 hasConcept C2775924081 @default.
• W2605565837 hasConcept C2777105549 @default.
• W2605565837 hasConcept C41008148 @default.
• W2605565837 hasConcept C47446073 @default.
• W2605565837 hasConcept C49603950 @default.
• W2605565837 hasConcept C62520636 @default.
• W2605565837 hasConcept C65401140 @default.
• W2605565837 hasConcept C90509273 @default.
• W2605565837 hasConceptScore W2605565837C101468663 @default.
• W2605565837 hasConceptScore W2605565837C111919701 @default.
• W2605565837 hasConceptScore W2605565837C121332964 @default.
• W2605565837 hasConceptScore W2605565837C127413603 @default.
• W2605565837 hasConceptScore W2605565837C127934551 @default.
• W2605565837 hasConceptScore W2605565837C133731056 @default.
• W2605565837 hasConceptScore W2605565837C154945302 @default.
• W2605565837 hasConceptScore W2605565837C19966478 @default.
• W2605565837 hasConceptScore W2605565837C2775924081 @default.
• W2605565837 hasConceptScore W2605565837C2777105549 @default.
• W2605565837 hasConceptScore W2605565837C41008148 @default.
• W2605565837 hasConceptScore W2605565837C47446073 @default.
• W2605565837 hasConceptScore W2605565837C49603950 @default.
• W2605565837 hasConceptScore W2605565837C62520636 @default.
• W2605565837 hasConceptScore W2605565837C65401140 @default.
• W2605565837 hasConceptScore W2605565837C90509273 @default.
• W2605565837 hasFunder F4320321001 @default.
• W2605565837 hasFunder F4320335953 @default.
• W2605565837 hasLocation W26055658371 @default.
• W2605565837 hasOpenAccess W2605565837 @default.
• W2605565837 hasPrimaryLocation W26055658371 @default.
• W2605565837 hasRelatedWork W1508948050 @default.
• W2605565837 hasRelatedWork W1525489095 @default.
• W2605565837 hasRelatedWork W1535589088 @default.
• W2605565837 hasRelatedWork W1588741651 @default.
• W2605565837 hasRelatedWork W1756033412 @default.
• W2605565837 hasRelatedWork W1907444653 @default.
• W2605565837 hasRelatedWork W1988511190 @default.
• W2605565837 hasRelatedWork W2014241190 @default.
• W2605565837 hasRelatedWork W2031287211 @default.
• W2605565837 hasRelatedWork W2081195838 @default.

• next