Keqiang Bai

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In this paper, a fuzzy backstepping control algorithm (FBC) for dual-arm cooperative robot is proposed to implement a grasp task. Firstly, the dual-arm cooperative dynamic model including dual-arm robot dynamic and objective dynamic is established. Secondly, The FBC is aim to eliminate the nonlinear uncertain and improve the performance of position-tracking(More)
A torque compensation method is proposed in this paper. Through theoretical analysis and experiments, a compensation strategy with tracking filter is designed for the control system of the industrial robot. This strategy can be used to suppress the time-varying nonlinear residual vibration of the end-effector which caused by the variation of the inertia in(More)
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