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Sliding mode hybrid impedance control of robot manipulators interacting with unknown environments using VSMRC method (2013)
Presentation / Conference
Jafari, A., Ryu, J., Rezaei, M., Monfaredi, R., Talebi, A., & Shiry Ghidary, S. (2013, October). Sliding mode hybrid impedance control of robot manipulators interacting with unknown environments using VSMRC method. Paper presented at The 44th IEEE International Symposium on Robotics (ISR 2013), Seoul, Korea

In the present paper, the objective of hybrid impedance control is specified and a robust hybrid impedance control approach is proposed. Based on the concept of hybrid control, the task space is decomposed into position and force controlled subspaces... Read More about Sliding mode hybrid impedance control of robot manipulators interacting with unknown environments using VSMRC method.

Transparency improved sliding-mode control design for bilateral teleoperation systems by using virtual manipulator concept (2013)
Journal Article
Jafari, A., & Ryu, J. H. (2013). Transparency improved sliding-mode control design for bilateral teleoperation systems by using virtual manipulator concept. IFAC-PapersOnLine, 3(PART 1), 21-26. https://doi.org/10.3182/20131111-3-KR-2043.00013

This paper proposes a new methodology for designing sliding mode bilateral controllers based virtual manipulator concept that aims to reach the most transparency considering parameter uncertainties and disturbances. This method shows a modified schem... Read More about Transparency improved sliding-mode control design for bilateral teleoperation systems by using virtual manipulator concept.