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This paper presents a collision detection algorithm based on generalized momentum to improve the safety reaction of robots. According to the decoupling performance of generalized momentum and external torque of the manipulator, the impact force can be obtained which determine the position where collision occurred. In this paper, a performance-regulating function is introduced to improve the dynamic...
To limit the falling of many power poles in areas affected by typhoons, the wind-bearing capability of pole foundations must be verified for transmission and distribution. A mechanical loading scheme is proposed in this paper to simulate the wind loads for power poles in transmission and distribution systems. First, the calculation algorithm for wind loads on wired power poles is discussed, and the...
A torque controller based on adaptive robust control is proposed for trajectory tracking of nonholonomic wheeled mobile robot with kinematic and dynamic uncertainties. In this controller, the parametric uncertainties are estimated by the adaptive control, and the non-parametric uncertainties are compensated by the adaptive robust control. The operation efficiency of the system is improved by distinguishing...
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