Matches in SemOpenAlex for { <https://semopenalex.org/work/W4313142974> ?p ?o ?g. }
Showing items 1 to 88 of
88
with 100 items per page.
- W4313142974 abstract "Abstract The paper formulates an algorithm for online modification of the trajectory of a collaborative robot. A sliding mode control algorithm is developed to identify the human intent, under ignorance of the mass and inertia of the element attached to the end effector of the collaborative robot (cobot) and also under ignorance of the human behaviour while applying force to the end effector of the cobot. The sliding mode control methodology allows a human user to modify the trajectory of the cobot while in motion. The controller is developed based on the assumption that the force applied by the human agent is an outcome of a Proportional-Derivative (PD) based dynamics. Although, the human dynamics is assumed, the parameters of the assumed PD control is unknown. However, the boundedness of the human dynamics’ gain matrices lead to the need of a sliding mode controller. Subsequently, the traditional Dynamic Motion Primitives (DMPs) have been used to rapidly train the desired behaviour of a human user. Then, the local planner is modified based on the task modification. The utility of the sliding mode control algorithm and the proposed DMP approach is demonstrated by experiments on the Kinova Gen2 cobotic Arm. Also, the sliding mode control algorithm is shown to converge asymptotically under bounded human action." @default.
- W4313142974 created "2023-01-06" @default.
- W4313142974 creator A5005449207 @default.
- W4313142974 creator A5037739037 @default.
- W4313142974 creator A5087248896 @default.
- W4313142974 date "2022-08-14" @default.
- W4313142974 modified "2023-09-27" @default.
- W4313142974 title "Task Modification Scheme for a Collaborative Robot" @default.
- W4313142974 doi "https://doi.org/10.1115/detc2022-89720" @default.
- W4313142974 hasPublicationYear "2022" @default.
- W4313142974 type Work @default.
- W4313142974 citedByCount "0" @default.
- W4313142974 crossrefType "proceedings-article" @default.
- W4313142974 hasAuthorship W4313142974A5005449207 @default.
- W4313142974 hasAuthorship W4313142974A5037739037 @default.
- W4313142974 hasAuthorship W4313142974A5087248896 @default.
- W4313142974 hasConcept C107457646 @default.
- W4313142974 hasConcept C110407247 @default.
- W4313142974 hasConcept C111472728 @default.
- W4313142974 hasConcept C121332964 @default.
- W4313142974 hasConcept C127413603 @default.
- W4313142974 hasConcept C1276947 @default.
- W4313142974 hasConcept C133731056 @default.
- W4313142974 hasConcept C134306372 @default.
- W4313142974 hasConcept C13662910 @default.
- W4313142974 hasConcept C138885662 @default.
- W4313142974 hasConcept C154945302 @default.
- W4313142974 hasConcept C158622935 @default.
- W4313142974 hasConcept C201995342 @default.
- W4313142974 hasConcept C203479927 @default.
- W4313142974 hasConcept C2775924081 @default.
- W4313142974 hasConcept C2778732403 @default.
- W4313142974 hasConcept C2780451532 @default.
- W4313142974 hasConcept C33923547 @default.
- W4313142974 hasConcept C34388435 @default.
- W4313142974 hasConcept C36662352 @default.
- W4313142974 hasConcept C41008148 @default.
- W4313142974 hasConcept C47446073 @default.
- W4313142974 hasConcept C48677424 @default.
- W4313142974 hasConcept C62520636 @default.
- W4313142974 hasConcept C6557445 @default.
- W4313142974 hasConcept C74650414 @default.
- W4313142974 hasConcept C86803240 @default.
- W4313142974 hasConcept C90509273 @default.
- W4313142974 hasConceptScore W4313142974C107457646 @default.
- W4313142974 hasConceptScore W4313142974C110407247 @default.
- W4313142974 hasConceptScore W4313142974C111472728 @default.
- W4313142974 hasConceptScore W4313142974C121332964 @default.
- W4313142974 hasConceptScore W4313142974C127413603 @default.
- W4313142974 hasConceptScore W4313142974C1276947 @default.
- W4313142974 hasConceptScore W4313142974C133731056 @default.
- W4313142974 hasConceptScore W4313142974C134306372 @default.
- W4313142974 hasConceptScore W4313142974C13662910 @default.
- W4313142974 hasConceptScore W4313142974C138885662 @default.
- W4313142974 hasConceptScore W4313142974C154945302 @default.
- W4313142974 hasConceptScore W4313142974C158622935 @default.
- W4313142974 hasConceptScore W4313142974C201995342 @default.
- W4313142974 hasConceptScore W4313142974C203479927 @default.
- W4313142974 hasConceptScore W4313142974C2775924081 @default.
- W4313142974 hasConceptScore W4313142974C2778732403 @default.
- W4313142974 hasConceptScore W4313142974C2780451532 @default.
- W4313142974 hasConceptScore W4313142974C33923547 @default.
- W4313142974 hasConceptScore W4313142974C34388435 @default.
- W4313142974 hasConceptScore W4313142974C36662352 @default.
- W4313142974 hasConceptScore W4313142974C41008148 @default.
- W4313142974 hasConceptScore W4313142974C47446073 @default.
- W4313142974 hasConceptScore W4313142974C48677424 @default.
- W4313142974 hasConceptScore W4313142974C62520636 @default.
- W4313142974 hasConceptScore W4313142974C6557445 @default.
- W4313142974 hasConceptScore W4313142974C74650414 @default.
- W4313142974 hasConceptScore W4313142974C86803240 @default.
- W4313142974 hasConceptScore W4313142974C90509273 @default.
- W4313142974 hasLocation W43131429741 @default.
- W4313142974 hasOpenAccess W4313142974 @default.
- W4313142974 hasPrimaryLocation W43131429741 @default.
- W4313142974 hasRelatedWork W2033871898 @default.
- W4313142974 hasRelatedWork W2363046772 @default.
- W4313142974 hasRelatedWork W2374835616 @default.
- W4313142974 hasRelatedWork W2469107743 @default.
- W4313142974 hasRelatedWork W2507513082 @default.
- W4313142974 hasRelatedWork W2755718452 @default.
- W4313142974 hasRelatedWork W2785655040 @default.
- W4313142974 hasRelatedWork W3213355148 @default.
- W4313142974 hasRelatedWork W4225868452 @default.
- W4313142974 hasRelatedWork W2466683152 @default.
- W4313142974 isParatext "false" @default.
- W4313142974 isRetracted "false" @default.
- W4313142974 workType "article" @default.