Multipoint Variable parameter compliant control of redundant manipulator based on the equivalent twin model of flexible contact dynamics

To elucidate the dynamic coupling mechanism involved in multipoint/arbitrary point contact during human–robot interactions with redundant manipulators, we introduce a compliant control strategy that adapts to variable parameters. This strategy is based on the flexible contact dynamic equivalent twin...

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Bibliographic Details

Published in:	International Journal of Advanced Robotic Systems
Main Authors:	Genliang Xiong, Lan Ye, Xiaoqing Zhang, Yanfeng Gao, Zhang Hua, Yang Dapeng, Chao Yu, Qirong Tang
Format:	Article
Language:	English
Published:	SAGE Publishing 2024-09-01
Online Access:	https://doi.org/10.1177/17298806241283702