— In this paper the Cartesian compliance control of a manipulator mounted on a flexible base is considered. The proposed control law aims at achieving a desired stiffness and da...
— This paper addresses the impedance control problem for flexible joint manipulators. An impedance controller structure is proposed, which is based on an exact decoupling of the...
Abstract— In this paper, a position based impedance controller (i.e. admittance controller) is designed by utilizing measurements of a force/torque sensor, which is mounted at th...
This paper describes the control and ergonomic evaluation of a ceiling mounted (or support frame suspended) 7-axis surgical robot (HISAR)f o r laparoscopic camera navigation. A ke...
Janez Funda, Kreg Gruben, Ben Eldridge, Stephen H....