Decentralized Robust Active Disturbance Rejection Control of Modular Robot Manipulators: An Experimental Investigation With Emotional pHRI

Decentralized Robust Active Disturbance Rejection Control of Modular Robot Manipulators: An Experimental Investigation With Emotional pHRI

This paper presents an active disturbance rejection control (ADRC) method for modular robot manipulators (MRMs) based on extended state observer (ESO), which solves the problem of trajectory tracking when modular robot manipulators facing the emotional physical human-robot interaction (pHRI). The dy...

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Bibliographic Details
Main Authors: Xiao Pang, Xiaodong Men, Bo Dong, Tianjiao An
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Modular robot manipulators
extended state observer
terminal sliding mode
emotional pHRI
active disturbance rejection control
Online Access:https://ieeexplore.ieee.org/document/9755175/

Internet

https://ieeexplore.ieee.org/document/9755175/

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