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The compliant control of the robot is widely used in the Human-Machine Interface (HMI) and robot bionics. Because the system and the environment are mutually constrained, when the external environment changes, the control environment of the system will change with it, which deteriorates the control performance of the system. This article solves the problem of how to realize the compliant control with...
In this paper, we propose a force feedback scheme for Delta device to improve precision and stability in master-slave teleoperation. A simple and exact dynamical equation is created with principle of virtual work, which is easy to calculate in real-time. After analysing three items deep in dynamical equation, a reasonable strategy is designed to identify the mass of Delta mechanism. The identified...
This paper mainly analyzes the typical compliant flange system and introduces impedance control methods for force tracking. First of all, we establish a compHant system with the internal cylinder of flange, electronic pressure regulator as well as other components, and build the transfer function of the system and verify the stability of the system. Next, we discuss about the model of compliant system...
Error calibration technique is one of the key factors that ensure robots accomplishing high kinematic precision. In this paper, a calibration method for general 6-DOFs robot is proposed. In this method, a linear geometrical error model is built according to the working condition and loads of a general 6-DOFs robot and the analysis of error sources; after which, such model is solved by generalized...
In this paper, we address the positioning problem of remote centre of motion (RCM) mechanisms with uncalibrated image feedback from a monocular camera. Nowadays, RCM mechanisms are widely used in minimally invasive robotic surgery due to their ability to distally rotate a tool around a fixed entry port; note that in most surgical applications, the tools are typically controlled by manual/teleoperated...
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