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A detecting method is presented for a robot with ultrasonic sensors in unknown environment. A structure model of the detecting system is built, and describing its operation principle. Because of the uncertainty, variability and unstructured of the environment, accurate exploration is almost impossible. Therefore, it is very difficult to realize high-precision control by the usual control methods of...
To precisely implement the force control of robot manipulators in an unknown environment, a control strategy based on fuzzy prediction of the reference trajectory in the impedance model is developed. The force tracking experiments are executed in an open-architecture control system with different tracking velocities, different desired forces, different contact stiffnesses and different surface figurations...
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