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A procedure to eliminate manipulator structural vibrations due to the flexibility is presented. Vibration control is achieved using off-line path generation which modifies the path profiles so that the excitation sources to the elastic behaviour of the manipulator will have minimum influence.
A hybrid position/force control method for a robot constrained by contact with the work surface is presented. The effective stiffness and accuracy of a robot end effector may be significantly increased by coupling the end effector to the work surface through a device referred to as a jig hand. However, a more sophisticated controller is needed to generate the appropriate end effector trajectories...
A method is given for finding a feedback controller which forces the response of a given nonlinear system to follow the response of a predetermined linear system. A test is provided that gives the sufficient conditions for the existence of such a control Possible solutions to some of the difficulties encountered in using this method are also investigated.
A mathematical model for predicting dynamics between the feedrate and cutting force in the lathe cutting process is derived by combinations of a parameter identification technique and geometrical consideration for chip thickness time variation. The model prediction of transient responses is in good agreement with the experimental results. The model is used for tuning a PI controller for regulating...
We study the effects of dither on the nonlinear element of a SISO nonlinear feedback system. He consider nonlinearities with memory (hysteresis, backlash), in the feedforward loop; a dither of a given amplitude is injected at the input of the nonlinearity. The nonlinearity is followed by a linear element with low pass characteristic. The stability of the dithered system and an approximate equivalent...
This paper presents two linear models for a "quasi-static" load distribution in a multi-manipulator task. The space curve frames generated by the space curve trajectories of each manipulator serve as frames of reference for the forces acting on the load. All constraints on the load distribution problem are formulated with reference to the force frames. The simulation of a simple task with...
In many manipulator configurations, where the end effector of the manipulator is in contact with a fixed object, a complete mathematical model for the manipulator dynamics should include the effects of the resulting contact force between the end effector and the fixed object. Equations for such a closed chain manipulator are developed, where the end effector constraint is defined by a smooth manifold...
Grinding robots must hold and guide a grinding tool in the face of large vibratory loads. This paper presents an optimal compliance design for grinding tool suspension systems, with the objective of reducing vibrations and maximizing material removal rate. First, the endpoint compliance matrix of the main robot is utilized to determines the optimal workpiece position and orientation. Then a method...
Antagonist actuated joints are defined as being driven by a pair of opposing actuators, as in the arrangement of muscles in human joints. A simple method of controlling the motion and varying the compliance of the joint is presented, along with examples of the performance of a prototype joint. The use of antagonist actuators to reduce the size, inertia and backlash of manipulator arm joints is discussed...
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