A Time Delay Estimation Based Adaptive Sliding Mode Strategy for Hybrid Impedance Control
This paper is inspired by the automation of cleaning tasks required inside the endogenous environment. This work intends to develop a robust adaptive strategy for force-position control, using robotic manipulators. With this objective, the operational/task space is decoupled into two sub-spaces, and...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9177062/ |