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This paper suggests a novel reaction force control in a robot manipulator by position feedback that is motivated by the analysis of human musculoskeletal system. First, we suggest an analogy between a muscle force characteristic and two-degree-of-freedom control input structure so that the complicated human muscle structure can be reflected in robot manipulator control. In order to clarify functions...
In this paper, a position based impedance controller (i.e. admittance controller) is designed by utilizing measurements of a force/torque sensor, which is mounted at the robot's base. In contrast to conventional force/torque sensing at the end-effector, placing the sensor at the base allows to implement a compliant behavior of the robot not only with respect to forces acting on the end-effector but...
This paper presents the compliance control of a robot manipulator under a constrained environment. The controller design proposed herein is based on the intelligence adaptive control scheme. In this design, the DFNNs (dynamic fuzzy neural networks) and PD feedback controllers control the position and the contact force of robot end-effector. The DFNNs controller is employed to compensate for environmental...
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