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 presents experimental studies of a cooperative control task between two balancing robots, which have two wheels to balance and navigate on the ground. Two balancing robots are constrained to carry a box without dropping it. Two balancing robots form a master and slave structure such that the master robot leads the slave robot and the slave robot follows. The slave robot has a force sensor...
In this paper, the problem of position and force control of a robotic manipulator in contact with the environment is considered. The Hybrid Impedance Control (HIC) methodology is employed to control the position of the end-effector in such a way that the robot exhibits a desired dynamic property and hence desired Impedance which in turn results in tracking the interaction force. It is assumed that...
In this paper, a mobile robot carrier is designed and controlled to carry an elderly person or a weak person. The carrier robot is a wheeled mobile robot driven with applied forces induced by an operator. The applied force can be sensed by a force sensor and the measured force is filtered by the impedance function to generate the desired velocity to drive motors. Then the inner loop PID controller...
New gains tuning and impedance control method were addressed for flexible base moving manipulators. Slow and fast dynamics of robot are decoupled using singular perturbation method. Then, using sliding mode control method, an impedance control law was derived for the slow dynamics. Combined control law was proposed comprising the impedance control law and a feedback control law for the fast dynamics...
Multiple impedance control (MIC) is a model-based algorithm that enforces a designated impedance on all cooperating manipulators, the manipulated object, and the moving base if applied on a mobile robotic system. For tuning the inner object forces, it is needed to model the inner forces/torques. For this purpose, the virtual linkage model is introduced to determine the inner forces using the MIC law...
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.