FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4297990082> ?p ?o ?g. }

• W4297990082 abstract "In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of super twisting algorithm (STA) type via a novel generalized filtered tracking error (GFTE). While time delayed estimation framework eliminates the need for accurate modelling of robot dynamics by estimating the uncertain robot dynamics and interaction forces from immediate past data of state and control effort, the second order switching control law in the outer loop provides robustness against the time delayed estimation (TDE) error that arises due to approximation of the manipulator dynamics. Thus, the proposed control law tries to establish a desired impedance model between the robot end effector variables i.e. force and motion in presence of uncertainties, both when it is encountering smooth contact forces and during free motion. Simulation results for a two link manipulator using the proposed controller along with convergence analysis are shown to validate the proposition." @default.
• W4297990082 created "2022-10-01" @default.
• W4297990082 creator A5024907792 @default.
• W4297990082 creator A5032022203 @default.
• W4297990082 creator A5037739037 @default.
• W4297990082 creator A5051297402 @default.
• W4297990082 date "2022-09-11" @default.
• W4297990082 modified "2023-09-25" @default.
• W4297990082 title "Robust Artificial Delay based Impedance Control of Robotic Manipulators with Uncertain Dynamics" @default.
• W4297990082 cites W1978023077 @default.
• W4297990082 cites W2016958754 @default.
• W4297990082 cites W2017239762 @default.
• W4297990082 cites W2034052310 @default.
• W4297990082 cites W2065676327 @default.
• W4297990082 cites W2067184820 @default.
• W4297990082 cites W2105660272 @default.
• W4297990082 cites W2137860408 @default.
• W4297990082 cites W2139548710 @default.
• W4297990082 cites W2146861986 @default.
• W4297990082 cites W2153940135 @default.
• W4297990082 cites W2317378027 @default.
• W4297990082 cites W2420367108 @default.
• W4297990082 cites W2602009451 @default.
• W4297990082 cites W2751278060 @default.
• W4297990082 cites W2791119367 @default.
• W4297990082 cites W2920321358 @default.
• W4297990082 cites W3135406776 @default.
• W4297990082 cites W3198642080 @default.
• W4297990082 cites W4248986968 @default.
• W4297990082 doi "https://doi.org/10.1109/vss57184.2022.9901611" @default.
• W4297990082 hasPublicationYear "2022" @default.
• W4297990082 type Work @default.
• W4297990082 citedByCount "0" @default.
• W4297990082 crossrefType "proceedings-article" @default.
• W4297990082 hasAuthorship W4297990082A5024907792 @default.
• W4297990082 hasAuthorship W4297990082A5032022203 @default.
• W4297990082 hasAuthorship W4297990082A5037739037 @default.
• W4297990082 hasAuthorship W4297990082A5051297402 @default.
• W4297990082 hasBestOaLocation W42979900822 @default.
• W4297990082 hasConcept C104317684 @default.
• W4297990082 hasConcept C119599485 @default.
• W4297990082 hasConcept C121332964 @default.
• W4297990082 hasConcept C127413603 @default.
• W4297990082 hasConcept C133731056 @default.
• W4297990082 hasConcept C154945302 @default.
• W4297990082 hasConcept C162324750 @default.
• W4297990082 hasConcept C17500928 @default.
• W4297990082 hasConcept C183356978 @default.
• W4297990082 hasConcept C185592680 @default.
• W4297990082 hasConcept C203479927 @default.
• W4297990082 hasConcept C2775924081 @default.
• W4297990082 hasConcept C2777303404 @default.
• W4297990082 hasConcept C2777984285 @default.
• W4297990082 hasConcept C2985527887 @default.
• W4297990082 hasConcept C31531917 @default.
• W4297990082 hasConcept C41008148 @default.
• W4297990082 hasConcept C47446073 @default.
• W4297990082 hasConcept C50522688 @default.
• W4297990082 hasConcept C55493867 @default.
• W4297990082 hasConcept C62520636 @default.
• W4297990082 hasConcept C63479239 @default.
• W4297990082 hasConcept C6557445 @default.
• W4297990082 hasConcept C81302111 @default.
• W4297990082 hasConcept C86803240 @default.
• W4297990082 hasConcept C90509273 @default.
• W4297990082 hasConceptScore W4297990082C104317684 @default.
• W4297990082 hasConceptScore W4297990082C119599485 @default.
• W4297990082 hasConceptScore W4297990082C121332964 @default.
• W4297990082 hasConceptScore W4297990082C127413603 @default.
• W4297990082 hasConceptScore W4297990082C133731056 @default.
• W4297990082 hasConceptScore W4297990082C154945302 @default.
• W4297990082 hasConceptScore W4297990082C162324750 @default.
• W4297990082 hasConceptScore W4297990082C17500928 @default.
• W4297990082 hasConceptScore W4297990082C183356978 @default.
• W4297990082 hasConceptScore W4297990082C185592680 @default.
• W4297990082 hasConceptScore W4297990082C203479927 @default.
• W4297990082 hasConceptScore W4297990082C2775924081 @default.
• W4297990082 hasConceptScore W4297990082C2777303404 @default.
• W4297990082 hasConceptScore W4297990082C2777984285 @default.
• W4297990082 hasConceptScore W4297990082C2985527887 @default.
• W4297990082 hasConceptScore W4297990082C31531917 @default.
• W4297990082 hasConceptScore W4297990082C41008148 @default.
• W4297990082 hasConceptScore W4297990082C47446073 @default.
• W4297990082 hasConceptScore W4297990082C50522688 @default.
• W4297990082 hasConceptScore W4297990082C55493867 @default.
• W4297990082 hasConceptScore W4297990082C62520636 @default.
• W4297990082 hasConceptScore W4297990082C63479239 @default.
• W4297990082 hasConceptScore W4297990082C6557445 @default.
• W4297990082 hasConceptScore W4297990082C81302111 @default.
• W4297990082 hasConceptScore W4297990082C86803240 @default.
• W4297990082 hasConceptScore W4297990082C90509273 @default.
• W4297990082 hasLocation W42979900821 @default.
• W4297990082 hasLocation W42979900822 @default.
• W4297990082 hasOpenAccess W4297990082 @default.
• W4297990082 hasPrimaryLocation W42979900821 @default.
• W4297990082 hasRelatedWork W1487325475 @default.
• W4297990082 hasRelatedWork W1505013685 @default.
• W4297990082 hasRelatedWork W2062932330 @default.
• W4297990082 hasRelatedWork W2082691201 @default.
• W4297990082 hasRelatedWork W2102992329 @default.

• next