Cascaded ESO based multi-task priority tracking and null-space compliance control for redundant robots
(2023)
Journal Article
Fan, K., Liu, Y., Huo, B., Yang, L., Wu, Z., & Yu, H. (2023). Cascaded ESO based multi-task priority tracking and null-space compliance control for redundant robots. Control Engineering Practice, 141, Article 105710. https://doi.org/10.1016/j.conengprac.2
This paper investigates multi-task priority trajectory tracking and null-space compliance control of redundant robots without joint velocity and joint torque sensors. A novel multi-task priority controller is proposed to improve the dynamic performan... Read More about Cascaded ESO based multi-task priority tracking and null-space compliance control for redundant robots.