Computed torque control allows the design of considerably more precise, energy-efficient and compliant controls for robots. However, the major obstacle is the requirement of an accurate model for ...

The paper presents a robotic tele-manipulation setup for remote ultrasound echography. The master station sends position and orientation commands through the Internet to the remote robot to control ...

ABSTRACT This paper deals with robust control of underactuated manipulator robots. It presents a comparative study of four combined controllers H2, H∞ , H2/H∞ and µ-synthesis, pluscomputed torque ...