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The compliant control of the robot is widely used in the Human-Machine Interface (HMI) and robot bionics. Because the system and the environment are mutually constrained, when the external environment changes, the control environment of the system will change with it, which deteriorates the control performance of the system. This article solves the problem of how to realize the compliant control with...
Based on the lumped parameter theory of piezoelectric transducer, the mathematical relationship between mutual radiation impedance and surface vibration velocity distribution of the array element is established, and then the simulation experiments were carried out for a 5×5 planar array. The simulation results show that the influence of amplitude and phase caused by mutual radiation impedance presents...
This study describes the design and realization of passive dynamic control for a manipulator. The control strategy is based on the idea that the shift in position and posture of an end effector attributable to an external force is regarded as the deformation of a robot. Control methods are constructed from the standard linear solid model, which describes the combination of plastic and elastic deformation...
For the purpose of enhancing compliance of robot joint, an impedance control strategy with new inner torque controller is proposed. Apparent inertia of the motor can be scaled down thanks to this new type of torque controller. Effects of different position (motor-side position θ and link-side position q) feedback strategies are explored through theoretical deviation, simulation and static stiffness...
This article demonstrates a novel robot applied in the Chinese Traditional Medicine clinical teaching area. As an effective therapy towards cervical spondylosis, the rotation-traction manipulation has been adopted extensively in clinical. However, medical malpractice may occur due to the lack of clinical experience. Therefore, it is crucial to design a simulation robot for practice purpose and evaluate...
The objective of the project is to develop a model for the capacitive ultrasonic transducer described in the Ladabaum et al., [1] paper. The main element of the transducer is a metalized silicon nitride membrane suspended on a rigid support above a heavily doped silicon bulk. The cavity under the membrane is vacuumed. When a voltage is applied between the metalized membrane and the bulk, the Coulomb...
To make robots walk smoothly and stably, it is necessary to solve ground impacts during dynamic walking. Compliance motion control can help to reduce the impacts and improve the robot's adaptability to complex terrain. Impedance control is a useful framework to provide robot's leg compliance. The conventional impedance control employs second-order mass-damping-spring system as a force disturbance...
This paper mainly analyzes the typical compliant flange system and introduces impedance control methods for force tracking. First of all, we establish a compHant system with the internal cylinder of flange, electronic pressure regulator as well as other components, and build the transfer function of the system and verify the stability of the system. Next, we discuss about the model of compliant system...
Self-excited vibrations are a major problem for rotary drilling. They may be mitigated by introducing adjustable compliance near the bottom of the drillstring, but it is challenging to identify the appropriate stiffness, particularly in situ and with limited available data on the rapidly-changing overall system dynamics. We describe an approach to modeling and simulating self-excited vibrations in...
Employing impedance control during manipulation of an object provides a mean to control its dynamic interactions with the environment. This paper presents a decentralized algorithm to achieve a desired multi-dimensional impedance behavior of the object during a collective manipulation without inter-agent communication. The proposed algorithm introduces the concept of “virtual coordination” arising...
The physical validation of devices must comply with the principles of causality, passivity, and stability. For linear and time-invariant devices, it can be proved that passivity implies a causal transfer function. In this sense, it is understood that causality is a consequence of the passivity condition. Moreover, if the real part of the admittance is non-negative, it can also be demonstrated that...
Force distribution is an important problem for the legged robots with active force control, the allocation of the foot forces can also achieve a desired force and torque on the hexapod robot. This paper presents a force distribution algorithm for redundant problem reduction, linearization and reducing the internal force. Combining the distribution algorithm with force control, the robot can walk on...
This study proposes a time-varying impedance control to smoothly stop an incoming object. The impedance dynamics are made from the Maxwell model. This system has a structure that exhibits plastic deformation. We use two types of control methods herein. Furthermore, mass, spring coefficient, and viscosity coefficient are the time-varying parameters employed to receive the incoming object without rebound...
In this study, a deformation control with spatial decoupling properties is designed and implemented. This control strategy treats the shift in position and posture attributable to an external force as the deformation of the robot. The deformation dynamics are constructed from the Maxwell and Voigt models, which describe plastic and elastic deformation, respectively. Next, a control method is proposed...
In this article, a nonlinear adaptive impedance control strategy is proposed to adjust the impedance of a one-degree of freedom Falcon robot to a pre-defined nonlinear impedance which is an approximate mathematical representation of the sino-nasal tissue. Further developments can be used for a training simulator system for the otolaryngology surgery training purposes. The stability of the proposed...
This paper proposes to use the analysis of human mechanical impedance to predict spatial behavior of tremor. Traditional studies have revealed that the variability in force is proportional to the mean level of force generated, which is described as signal dependent noise. The variability in force sometimes generates unintentional and uncontrollable rhythmic muscle movements, called tremor. Tremor...
We address the design of the Power Takeoff (PTO) device of a wave energy conversion system through direct optimisation of the parameters of a mechanical network according to an optimisation criterion linked to power absorption performance. The results are illustrated through simulations and the behaviours of different PTO realisations are compared.
This paper presents the development of an arm rehabilitation robot for patients who suffer from muscular dystrophies, stroke, or other disabilities of their arms. The arm rehabilitation robot focused is two-link single-joint manipulator. An impedance control scheme is implemented to organize interaction between the robot and the patient. A free regressor adaptive controller is designed to track the...
For the past decade, researchers have developed rehabilitation robot based-therapy for post-stroke patients which goal is to complement the traditional manual therapy. However, they are still lacking in terms of measuring the human arm's impedance that neurorehabilitation therapist used to estimate before deploying a specific training regime. There are numerous assessment strategies exist to estimate...
This paper proposed the two-loop impedance controllers with variable stiffness (DIVS) for dual-arm cooperative robot grasping a common object interacting with the environment. This approach could be employed to improve force and position tracking performance when dual-arm cooperative robot grasping a common object interacts with the environment. Firstly the couple dynamic mode between the object and...
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