Toward a Smart Actuating System for Service Robots

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dc.WoS.categoriesEngineering, Electrical & Electronicen_US
dc.authorid0000-0002-9170-0015en_US
dc.contributor.authorUzunoviç, Tarık
dc.contributor.authorBaran, Eray A.
dc.contributor.authorÖzçelik, İlkay Turaç
dc.date.accessioned2024-04-15T13:39:51Z
dc.date.available2024-04-15T13:39:51Z
dc.date.issued2023-10-05
dc.description.abstractOwing to the increasing engagement of service robots in everyday life, significant requirements are imposed on their control systems to ensure safe interaction between robots and humans. The stiffness of the motion executed by the service robots is not high, as with industrial robots, but has to be variable depending on the defined task. Therefore, a service robot needs to have soft actuation, delivering “humanlike” motion dependant on the interaction force between the robot and its environment. Such an operation requires switching from the trajectory tracking (position control) mode to the interaction (force control) mode, and vice versa. Conventional control methods, based on hybrid position/force control, or switching between a position and force controller, may fail short in these cases. Thus, we have previously proposed a new control method, denoted as universal motion controller, that merges the position and force control into a single control structure. The control method is elaborated in this article, and its experimental validation is presented for the first time for multi-degree-of-freedom systems.en_US
dc.fullTextLevelFull Texten_US
dc.identifier.doi10.1109/OJIES.2023.3311468en_US
dc.identifier.issn2644-1284
dc.identifier.scopus2-s2.0-85171559740en_US
dc.identifier.urihttps://hdl.handle.net/11411/5256
dc.identifier.urihttps://doi.org/10.1109/OJIES.2023.3311468
dc.identifier.wosWOS:001070628500001en_US
dc.identifier.wosqualityQ1en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.nationalInternationalen_US
dc.numberofauthors7en_US
dc.pages362-370en_US
dc.publisherIEEEen_US
dc.relation.ispartofIEEE OPEN JOURNAL OF THE INDUSTRIAL ELECTRONICS SOCIETYen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectRobotsen_US
dc.subjectPosition/force controlen_US
dc.subjectservice robotsen_US
dc.subjectuniversal motion controlleren_US
dc.titleToward a Smart Actuating System for Service Robotsen_US
dc.typeArticleen_US
dc.volume4en_US

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