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This paper proposes a data-driven design method of a force controller using input/output data of a force control system, i.e., force response obtained when contacting to an unknown environment and input to a robot at that time. The force control system includes the environment to be contacted in addition to the robot itself. The force controller must be designed in consideration of the environment...
This paper presents a full direct-drive motion of a spiral motor. Spiral motor, is a novel high thrust force actuator with high backdrivability, consists of a spiral structure mover and stator. The mover moves spirally in the stator, and the linear motion is extracted to drive the load. A proper gap control against the load fluctuation is needed to achieve full direct drive motion. In this paper,...
Bilateral control of teleoperation is one of the typical methods for half-automatic control of space robotic system. This paper focuses on the task requirement that the space robot monitoring in orbit (no contact with environment), introduces a half closed-loop framework to construct the bilateral control system with force feedback. First, dynamic model was built, and then after the Lyapunov stability...
This paper addresses the “trade-off” between transparency and stability of some specific bilateral teleoperation systems including communication time-delays. Using a geometric approach, we derive a simple method to study the fragility of the proposed controller for a general 4-channel architecture for bilateral teleoperation with time-delays such that the closed-loop stability as well as the transparency...
This work presents some considerations regarding mathematical models and control solutions for a class of mobile robots namely two-wheeled differential drive mobile robots, one of the most utilized mechanical structures now in mobile robotics practice. The closed loop control diagrams for position control and respectively for direction control in tracking along imposed trajectories are developed,...
Energy-based control design methodology (the so-called IDA-PBC, interconnection and damping assignment passivity-based control) is a well established technique that has shown to be very powerful to design robust controllers for physical systems described by Euler-Lagrange equations of motion. Their application potential is particularly important for under-actuated systems. This paper presents the...
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