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- W4309226071 abstract "Robotics now plays a major part in all human activities, including industrial needs. Industrial applications where a robot interacts with its surroundings are in high demand. The safety of these interactions is of the greatest priority and is strongly connected to the control system's architecture. This paper describes a novel integrated system architecture for modeling and controlling robots to perform their tasks while ensuring the safety of the robot itself and its environment. This is done by integrating motion tracking and safety mechanisms implemented using Proportional-Integral (PI) and Admittance law, respectively. The controllers are applied to the robot's kinematic and dynamic models. The end effector of the robot is fitted with a force/torque sensor. MATLAB/Simulink environment and Simscape Multibody visualization method are used to validate the obtained system architecture." @default.
- W4309226071 created "2022-11-24" @default.
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- W4309226071 date "2022-10-22" @default.
- W4309226071 modified "2023-09-26" @default.
- W4309226071 title "Analysis and Development of a Hybrid Position/Force Control for a N-DoF Robotic Manipulator" @default.
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- W4309226071 doi "https://doi.org/10.1109/niles56402.2022.9942382" @default.
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