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Transfer of container filled with liquid may generate sloshing, considered an undesirable effect in many systems. This research explores the use of input shaping technique to suppress sloshing on transfer of liquid container using multi-joint robot arm. By input shaping principle, acceleration command is shaped using two impulses in such a way to cancel each other's response. Position trajectory is...
This paper proposes an intelligent massage control system by using multi-fingered robot hand with hybrid impedance control, which is able to create the movement and the force of robot such as the human's massage. Therefore, the various massage points, such as the change of the stiffness of human skin muscle, can be controlled by using impedance control method. The hybrid impedance control is comprised...
This paper proposes an intelligent massage control system by using multi-fingered robot hand with hybrid impedance and force control, which is able to create the movement and force of robot to behave as similar as the human's massage. Therefore, the various massage points, such as the changing of hardness and softness of human skin muscle condition, can be appropriately controlled by using hybrid...
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