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Spiral motor, a novel high-thrust linear actuator with high backdrivability, consists of a helical structure stator and mover. Under proper gap control against the load fluctuation, the mover moves helically in the stator and the linear motion is extracted to drive the load. Thus, the motor realizes direct-drive motion without mechanical gears. In this paper, an exact feedback linearization engaged...
Recent years, a dental implant surgery has been focused and has been widely prevalent. At present, the limited doctor had acquired the skill for the surgery. It is because of that the dental implant surgery has risks of an accident. Therefore, the high quality skill for the surgery is required. A dental hand-piece (dental drill) is used to make the hole which is for insertion of an artificial tooth...
This paper presents a delay compensation technique for nonlinear teleoperators by developing a predictor type sliding mode observer (SMO) that estimates future states of the slave operator. Predicted states are then used in control formulation. In the proposed scheme, disturbance observers (DOB) are also utilized to linearize nonlinear dynamics of the master and slave operators. It is shown that utilization...
This paper proposes a new smooth touch control for operating industrial robots in unknown environments. The touch control is an useful strategy for the smooth switching from the position control to the force control. Many applications require flexibility to the environments. For example, direct teaching by using a manual control is one of the typical applications. A highperformance force control method...
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