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.
Most position/force control schemes assume that the contact surface is exactly known. In the presence of constraint uncertainties these controllers cannot ensure convergence to zero of position and force errors. In this work, an adaptive scheme is proposed for robot manipulators that perform interaction tasks with a rigid surface. The proposed algorithm takes into account uncertainties in robot and...
This paper presents a method to estimate external force which is applied at the tip of a robotic arm. Piezoelectric actuator has been used as linear motor into this system and provide force estimation. The disturbance system has been divided into two parts: external force and design trajectory tracking. An external force is applied to the piezoelectric linear model to estimate current external force,...
The smaller the robot the easier it is for it to access voids in a collapsed structure. Yet, small size brings a host of problems due to resource constraints. One of the primary constraints on small robots is limited motive power to surmount obstacles and rough terrain. We are developing a small reconfigurable robotic system with various add-on modules to provide bulk motive force adaptable for different...
Based on the analysis of the interaction between a manipulatorpsilas hand and a working object, a model representing the constrained dynamics of the robot is first discussed. The constrained forces are expressed by an algebraic function of states, input generalized forces, and constraint condition, and then direct position / force controller without force sensor is proposed based on the algebraic...
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.