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This paper presents an improved force-free control method based on current, which can be applied to industrial articulated robotic arms with large mass and large friction torque for direct teaching. Three kinds of torques that influence direct teaching are analyzed, and thus a calibration method and a compensation model are proposed. The model has been demonstrated effective through experiments. Considering...
This paper describes the basic proposal and mechatronic system design of a novel developed big danger disposal manipulator, named as ldquoBIG HANDrdquo in the later chapters. It is developed mainly for rescue and public security purpose, and is supposed to have real application in public sites such as airports, stations, and so on, while being carried by some powerful mobile equipment. Among dozens...
The explosive ordnance disposal task in constrained environments needs high efficiency of operation and adaptability to avoid obstacles. In this paper, a redundant manipulator is presented to enhance the manipulability, the mechanical and control system is introduced and supervised control framework is adopted to deal with approaching and grasping task in confined workspace. The manual configuration...
In this paper, a modeling, planning and remote control of a redundant manipulator for a semi-structured ldquounder vehiclerdquo environment is investigated. The geometric characteristic is abstracted by the distance laser sensory information and collision danger is measured in real time to activate the self-motion of reshaping the configuration. To make a real time solution, a intuitive collision...
The research on robot manipulator is not new topic. However, it is still not easy to localize the manipulator in present writer's region nowadays. The reason partly comes from the difficulty of reducing the manufacturing cost as well as keeping high displacement accuracy. This paper describes the research on a novel wire driving robot manipulator as a try to substitute low cost, high accuracy and...
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