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The paper presents a control law for interaction tasks with environments of unknown geometrical and mechanical properties by manipulators mounted on compliant bases. Based on force-tracking impedance controls, the control strategy allows the execution of such class of tasks using the estimation of base position as a feedback in the control loop, requiring at the same time the on-line estimation of...
To design the heavy duty industrial robot manipulator, it must be tested and evaluated for the overall structure. The test and evaluation procedure may be followed after the parts configuration determined from the kinematics & dynamics analysis of the robot structure. During this research, we completed a feasibility study via simulation on each of the specifically designed assembly parts which...
The collaboration between a human operator and a robotic manipulator for performing a joint task is the main topic of this article. One of the most common tasks involves transporting and positioning a load. The proposed control strategy allows the co-manipulation of loads with unknown, time-varying mass. The control algorithm is of a cyclic nature, where each cycle is subdivided into two stages. The...
Force feedback is necessary for accurate force control in robotic manipulators, and thus far, wrist force/torque (F/T) sensors have been used. But an important problem arises when only these types of sensors are used. In a dynamic situation where the manipulator moves in either free or constrained space, the interaction forces and moments at the contact point and also the noncontact ones are measured...
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