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.
In this paper we present a methodology to drive the end effector of a robotic manipulator across the surface of an object in the workspace, and at the same time the manipulator can apply a force to the object, through its end-effector. Three typical tasks are considered, namely stabilization of the end effector over the object's surface and applying a specific force on it, motion planning and eventually...
The problem of estimating external forces exerted on a robotic manipulator with harmonic drive gearing without a force-torque sensor is considered. Manipulator dynamics together with motor current feedback is used to estimate external joint torques, which are transformed into estimated external end effector forces using knowledge of the manipulator's kinematics. Adaptive control is used to tune the...
The reaction forces at the base of a robotic manipulator contain model parameter information which can be acquired and used towards improving manipulation performance. The on-line extraction of this parameter content and its use towards improving the performance of model-based trajectory tracking controllers is examined. A modified version of a previously proposed nonlinear adaptive control scheme...
This paper proposes an iterative learning control (ILC) scheme for a class of redundant robot arms to acquire the desired control input signals that produce an endpoint trajectory specified in task space. The learning update law of control input signals is constructed only in task space by modifying the previous control input through adding linearly an endpoint velocity trajectory error. Although...
We tackle a fish-catching task under a visual feedback hand-eye system with catching net. The fishes change escaping trajectory or speed up when being threatened as the net attached at hand approaches to them. Furthermore, as the time of tracking and catching process flows, the fish can somewhat get accustomed to the hand motion pattern and gradually find out new strategies on how to escape from the...
This work treats the problem of modeling and identification of the structural damping of the flexible link of a rigid-flexible manipulator. Besides dissipating energy due to the joint friction, like in rigid robots, flexible robots also dissipate energy due to structural damping that results in the time amplitude decay of the flexible arms oscillations. This behavior is traditionally tackled recurring...
This paper considers the problem of planning motions for a team of mobile manipulators working in the same environment with a common task objective. It presents a distributed, real-time algorithm to plan motion trajectory for each team member that allows dynamic and spontaneous division of work among team members to meet the common task objective. A mobile manipulator has to perform its share of the...
This study clarifies that secure dynamic manipulation by a pair of soft fingertips can be achieved easily without any information of a grasped object, which is called Blind Manipulation. First, we describe two holonomic constraints and two nonholonomic constraints induced by minimum dof soft-fingered grasping. Next, we represent Lagrangian of the soft-fingered hand system that includes the elastic...
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.