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In this paper, we present a new feedback method to automatically servo-control the 3-D shape of soft objects with robotic manipulators. The soft object manipulation problem has recently received a great deal of attention from robotics researchers because of its potential applications in, e.g., food industry, home robots, medical robotics, and manufacturing. A major complication to automatically control...
Despite the recent progress in physically interactive and surgical robotics, the active deformation of compliant objects remains an open problem. The main obstacle comes from the difficulty to identify/estimate the object's deformation properties. This paper presents a new visually servoed deformation controller for unknown elastic objects. The control law is designed using the passivity-based framework...
In this paper, we analyse and present a control approach using the energy shaping formulation to explicitly regulate the applied force of a robot manipulator in contact with a purely elastic environment. The potential energy of the robot-environment system is shaped in a way that its local equilibrium implies the application of the desired force onto the contact surface. This potential shaping is...
A newly designed attitude sensing system is proposed to realize 3 Euler angles measurement of precision pointing hexapod. The attitude sensing system consists of biaxial inclinometer and laser displacement sensors. Due to the measurement of irrelevant degree of freedom (DOF) is avoided, the complexity and cost of the attitude sensing system is relatively low in comparison with ordinary 6 DOF measurement...
The shipborne manipulator studied in this paper is a new foldaway crane system with retractable arms working on ships and controlled by the drive of its hydraulic system. A visual simulation system for this shipborne manipulator with virtual reality (VR) completed by OpenGL is studied and put up with based on the synthetical research of the characteristics and work condition for this kind of shipborne...
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