Active robot hand compliance using operational space and integral sliding mode control
This paper establishes a novel approach of robust active compliance control for a robot hand via an Integral Sliding Mode Controller (ISMC). The ISMC allows us to introduce a model reference approach where a virtual mass-spring damper system can be used to design a compliant control. In order to all...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Published: |
2013
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/4044/ http://eprints.uthm.edu.my/4044/1/0357.pdf |