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.
A heavy payload attached to the wrist force/moment (F/M) sensor of a manipulator can fail the conventional impedance controller to establish a desired impedance due to the non-contact components of the force measurement, i.e., the inertial and gravitational forces of the payload. This paper proposes an impedance control scheme for such a manipulator to accurately shape its force-response without needing...
This paper presents an enhanced sliding-mode constrained motion tracking control methodology for piezo-actuated flexure-based micro/nano manipulation mechanisms. This control methodology is formulated to accommodate not only the parametric uncertainties and unknown force conversion function, but also the non-linearities including the hysteresis effect and external disturbances in the manipulation...
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...
The model-based control of robotic manipulators relies on an exact model of the manipulator. Redundantly actuated PKM posses the ability to exhibit internal prestress that does not affect its environment. This allows for a purposeful distribution of control forces, taking into account secondary tasks, such optimal force distribution, active stiffness, and backlash avoiding control. In the presence...
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.