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2022-06-01
Conference abstract. Part of the Proceedings of the Canadian Society for Mechanical Engineering International Congress 2022.
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2022-06-01
This paper focuses on the problematic position tracking of a quadcopter under external disturbances by developing a super-twisting sliding mode controller (STSMC) based on a higher-order sliding mode observer (HOSMO). A generalized quadcopter model is presented with position and attitude...
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2022-06-01
Conference abstract. Part of the Proceedings of the Canadian Society for Mechanical Engineering International Congress 2022.
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Vision-based Impedance Control of a 7-DOF Robotic Manipulator for Pick-and-Place Tasks in Grasping Fruits
Download2022-06-01
Chen, Qiguang, Wan, Lucas, Ravichadran, Prabahar, Pan, Ya-Jun, Chang, Young Ki
A vision-based impedance control method is applied to a 7-degree-of-freedom (7-DOF) Franka Emika (FE) Panda robotic manipulator to complete pick-and-place tasks with human-like grasping of fruits. The interfaces between different hardware and the controller are developed using robotic operating...