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In this article, we describe the analysis of a composite piezoelectric actuator intended for a force feedback application. The concept of the force feedback interface is based on reduction of the friction coefficient between two surfaces in contact, and the aim here is to achieve an enhanced performance design based on the existing actuator. For this purpose, and following up a previous study, the...
The stick-slip actuator motion is dependent on its natural frequency. The backward motion of the actuator during the slip phase due to the stiffness alters the motion of any stickslip friction principle based positioners drastically. This work is an attempt to design and fabricate a simple and compact piezoelectric walker integrated with a force sensor to measure the frictional force during the slip...
This paper presents a new theoretical development and modelling related to the requirement of the minimum number of sensors necessary for slippage prevention in robotic grasping. A fundamental experimental investigation has been conducted to support the newly developed postulate. A series of basic experiments proved that it is possible to evaluate the contributions of various sensors to slippage prevention...
The objective of the present work is the global stabilization of a cart-pendulum system. First, an energy shaping algorithm is developed to bring up the pendulum to the close vicinity of its upright equilibrium point. The energy control technique employed here also takes care of the practical constraint of limited cart track length. Next, a sliding mode controller (SMC) does the task of keeping the...
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