The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper proposes a force control system including contact process using acceleration-sensor-based instantaneous state observer for high-stiffness gear drive. The proposed system is structured by PI velocity control system and IP force control system based on resonance ratio control system. An instantaneous state observer is used to a resonance ratio control system for a high-stiffness gear drive...
The bilateral control that is used in medical or industrial applications needs to offer rapid processing and precision. The Field Programmable Gate Array (FPGA) helps in this regard. The algorithms of velocity and acceleration estimation require a short processing time in implementation than do conventional estimation methods. Bilateral control is implemented in common and differential modes for force...
In the robot systems and intelligent machines, the gear-box or mechanisms are connected with the motor to transmit the actuator torque to a distant joint. Generally, its elasticity causes resonance frequency in the system. By using the conventional PID controller, this method cannot perform well in this situation. Much research has proceeded with the aim of reducing vibration. A new effective control...
Robotic technology is used widely today because of their advantages to support human operator. Robot systems have been used, not only for industrial processes, but also for a wide range of applications, such as minimally invasive surgery. To perform complicated surgical operation with robot system, the flexible actuator which is composed of a linear motor and a thrust wire, has been proposed. From...
To realize hyper dynamic manipulations such as jumping, authors propose the utilization of dynamically-coupled driving and joint stop mechanisms in a small commercial humanoid. To realize difficult dynamic actions such as vertical jumping by utilizing joint stop mechanisms, the motion planning for jumping has been performed based on a model with joint stop mechanisms into the legs. The modeling, motion...
Disturbance observer is significantly becoming the preferred approach since it offers distinct advantages of improving robustness of the force control and accuracy of the force estimation. Current and velocity information are the reference inputs of the disturbance observer whereas the external force estimation is the output. Generally, velocity information without noise effects can be calculated...
This paper describes various configurations of two connected unit crawlers. By changing the relative position of the two connected vehicle units, the overall robot comprising such a mechanism can automatically adapt to surface obstacles on the field, including complicated structures such as disaster-generated debris. In addition, we analyzed the effect of axis arrangements in order to simplify the...
In this paper, the objective is to analyze a robot system with consideration the different levels of wire rope tension for human-robot applications. In the controller design, dual disturbance observers with respect to two operation modes, namely the common mode and the differential mode are designed and applied for controlling wire rope tension and interaction force of human. The variable wire rope...
An adaptable stiffness of mechanical using wire rope tension control, called as a twin direct-drive motor system, has unique advantages in human-robot interaction system, when compared with conventional industrial robot. Since the wire rope is low friction and lightweight device, it is possible to achieve high-efficiency, high degree of reliability, and safety. In this paper, modeling and closed-loop...
This paper proposes a new motion control strategy for industrial robots. It is important for industrial robots to regulate the motion of robot on condition of high speed and high accuracy. However, an industrial robot often has the vibration phenomenon which is generated by the resonant frequency and the nonlinear interference force from the other joints of robot. In order to overcome these problems,...
Industrial robots are always requested to realize a fast position control and keep a robot safety on external force. In order to realize a fast position control, we have already proposed both the dynamic internal torque compensation of its motion reference and the robust continuous path tracking control with vibration suppression control. For the purpose of keeping the robot safety on external force,...
Recently, motion copying technologies are important elements in order to succeed production engineering of expert engineers. The paper proposes a novel motion copying system. The motion copying system consists of a motion saving system and motion loading system. The motion saving system saves motion of human operator by bilateral controller using a quarry matrix. On the contrary, the motion loading...
In recent years, bilateral system has been widely researched for its functionality and availability. The system is effective in the fields of medical treatment, but application is limited to one-on-one system. The purpose of this study is development of basic technology for haptic information sharing technology. In this paper, a noble bilateral control method is introduced to realize multiple inputs...
In recent years, bilateral system has been widely researched for its functionality and availability. The system is effective in the fields of medical treatment, but application is limited to one-on-one system. The purpose of this study is development of basic technology for haptic information sharing technology. In this paper, a noble bilateral control method is introduced to realize multiple inputs...
In this paper, a noble bilateral control method is introduced to realize decoupled haptic transmission technology. At first, bilateral system based on acceleration control is discussed. Acceleration control is accomplished by disturbance observer. Both of master and slave are controlled by position regulator and force servoing, and these two controllers are decomposed into two modes "common mode"...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.