Browsing by Author "San Miguel Tello, Alberto"
Now showing items 1-8 of 8
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Automated off-line generation of stable variable impedance controllers according to performance specifications
(Institute of Electrical and Electronics Engineers (IEEE), 2022-07-01)
Article
Open AccessIn this letter, we propose a novel methodology for off-line generating stable Variable Impedance Controllers considering any parameter modulation law in function of exogenous signals to the robot, as e.g. the exerted force ... -
Condition-based design of variable impedance controllers from user demonstrations
(2023-11)
Article
Open AccessThis paper presents an approach to ensure conditions on Variable Impedance Controllers through the off-line tuning of the parameters involved in its description. In particular, we prove its application to term modulations ... -
Disturbance observer-based LPV feedback control of a N-DoF robotic manipulator including compliance through gain shifting
(2021-10)
Article
Open AccessThis paper proposes a control scheme for a -DoF robotic manipulator in a joint-regulation motion problem, dealing with disturbances (as e.g. exogenous forces, unmodelled dynamics) that hinder task fulfilment, and also ... -
Fault-tolerant control of a service robot
(IET Digital Library, 2020)
Part of book or chapter of book
Restricted access - publisher's policyIn this chapter, the problem of fault-tolerant control of a service robot is addressed. The proposed approach is based on using a fault estimation scheme based on an Robust Unknown-Input Observer (RUIO) that allows to ... -
Fault-tolerant control of a service robot
(2020-08-02)
Part of book or chapter of book
Open AccessIn this chapter, the problem of fault -tolerant control of a service robot is addressed. The proposed approach is based on using a fault estimation scheme based on a robust unknown -input observer (RUI0) that allows one ... -
Fault-tolerant control of a service robot using a LPV robust unknown input observer
(Institute of Electrical and Electronics Engineers (IEEE), 2019)
Conference report
Open AccessIn this paper, the control problem of a service robot under exogenous forces that might be exerted on the system is addressed, considering them as faults. Proposed approach is based on using a fault estimation scheme ... -
Safety and adaptation in physical interaction control for robotic applications
(2023-09-04)
Doctoral thesis
Restricted access - confidentiality agreement(English) Although robotic platforms have been used for a wide range of purposes, recent advances in robot autonomy raise the opportunity of bringing them closer to humans. This implies that, under any circumstance, robots ... -
Supervision and fault tolerance for assistive robotics
(Universitat Politècnica de Catalunya, 2019-07-18)
Master thesis
Open AccessIn this Master Thesis, the supervision and control problem of service robots in unknown anthropic domains has been addressed from the Fault Detection and Diagnosis (FDD) framework, presenting a complete Fault-Tolerant ...
