Compliant variable admittance adaptive fixed-time sliding mode control for trajectory tracking of robotic manipulators
Hang Gao,
Chao Ma,
Xiaodong Zhang
et al.
Abstract:This paper presents a compliant variable admittance adaptive fixed-time sliding mode control (SMC) algorithm for trajectory tracking of robotic manipulators. Specifically, a compliant variable admittance algorithm and an adaptive fixed-time SMC algorithm are combined to construct a double-loop control structure. In the outer loop, the variable admittance algorithm is developed to adjust admittance parameters during a collision to minimize the collision time, which gives the robot compliance property and reduce… Show more
Set email alert for when this publication receives citations?
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.