English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

With the aim of further enabling the exploitation of intentional impacts inrobotic manipulation, a control framework is presented that directly tacklesthe challenges posed by tracking control of robotic manipulators that aretasked to perform nominally simultaneous impacts. This framework is anextension of the reference spreading control framework, in which overlappingante- and post-impact references that are consistent with impact dynamics aredefined. In this work, such a reference is constructed starting from ateleoperation-based approach. By using the corresponding ante- and post-impactcontrol modes in the scope of a quadratic programming control approach, peakingof the velocity error and control inputs due to impacts is avoided whilemaintaining high tracking performance. With the inclusion of a novel interimmode, we aim to also avoid input peaks and steps when uncertainty in theenvironment causes a series of unplanned single impacts to occur rather thanthe planned simultaneous impact. This work in particular presents for the firsttime an experimental evaluation of reference spreading control on a roboticsetup, showcasing its robustness against uncertainty in the environmentcompared to three baseline control approaches.

Quadratic Programming-based Reference Spreading Control for Dual-Arm Robotic Manipulation with Planned Simultaneous Impacts