Robotic manipulators are highly nonlinear and coupled systems that are subject to different
types of disturbances such as joint frictions, unknown payloads, varying contact points, and …

This paper presents an approach to haptically controlling an industrial robot without using
any external sensors for human-robot collaborative assembly. The sensorless haptic control …

Robots are an indispensable part of modern production lines. Usually working in designated
areas, they are separated from human workers in order to avoid collisions. A safe …

This study is devoted to sensorless adaptive force/position control of robot manipulators
using a position-based adaptive force estimator (AFE) and a force-based adaptive …

In this paper a new approach for the null-space impedance control of a kinematically
redundant robot is proposed. The approach is useful for the case where the robot …

Sensor-less external force detection is important for industrial robots which are usually not
equipped with external force sensors to be applied in physical human-robot interaction …

Among the prevalent methods in linear bilateral teleoperation systems with communication
channel time delays is to employ position and velocity signals in the control scheme …

This study focuses on the accurate tracking control and sensorless estimation of external
force disturbances on robot manipulators. The proposed approach is based on an adaptive …

This paper describes a stable adaptive motion/force control of uncertain nonholonomic
mobile manipulator with the consideration of external force. As it is well known, unexpected …

Consideration of manipulator dynamics and external disturbances in robot control system
design can enhance the stability and performance properties of the whole system. In this …