Browsing by Author "Bernstein D.S."
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Pareto-front analysis of a monotonie PI control law for slip suppression in a robotic manipulator
Prach A.; Cabibihan J.-J.; Thakor N.V.; Bernstein D.S. ( Institute of Electrical and Electronics Engineers Inc. , 2018 , Conference Paper)This paper presents a novel slip-suppression controller for a two-fingered robotic manipulator, where the goal is to minimize the slip distance without using excessive force. To do this, we consider monotonic PI (MPI) ...