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Tracking a surface via the end-effector of a manipulator is a tough issue, one not only should implement the position and force control, but also monitor and sense the actual contacting state between the end-effector and the object's surface. In this paper, we present an approach integrating the tactile sensing with force-torque information as the feedback to control the manipulator tracking a surface...
This paper presents a new methodology for joint stiffness identification of serial robots. This methodology aims at evaluating all joint stiffness values responsible for both translational and rotational displacements of the robot end-effector subject to an external wrench (force and torque). The links of the robot are supposed to be quite stiffer than the joints and not known as it is usually the...
This paper presents an overview of the structure and requirements of a ground engineering model for a space remote manipulator system, with long arm and large torque driver capacity. The system consists of a 6 DOFs robot arm composed of six identical modular joints, and a large-error tolerated end effector. A FPGA based joint controller hardware structure is built to form a distributed control scheme...
Force control is required in many industrial tasks. In this paper, a robot controller is proposed which controls both the position and the force that act on the end-effector. The external force is computed with a force/torque estimator, and this estimation is presented as an update law to improve the system's performance. A Lyapunov function is defined to show the stability of the system and that...
To solve the torque minimization problem of redundant manipulators, a bi-criteria scheme is investigated in this paper. Different from previous researches, inertia-inverse is considered corresponding to global kinetic energy minimization of robot mechanisms via this scheme. Such a scheme could be finally formulated as a general quadratic program (QP) subject to equality, inequality and bound constraints...
In bilateral teleoperation, the operator experiences forces and torques applied to the slave manipulator. These forces and torques, however, consist of two components: on the one hand, forces and torques due to contacts with the environment, and on the other hand, non-contact forces, i.e., inertial forces, centrifugal forces, Coriolis forces, and associated torques. For several reasons, eliminating...
We develop non-smooth motion controllers that enable redundant manipulators to perform surface tasks, that involve force/torque interactions. The robot joint rates are constrained within given limits. The end-effector is stabilized to a point, on the surface, and then tracks a trajectory on the surface, while respecting the input constraints and avoiding obstacles, and the same time applying a specific...
Multiple impedance control (MIC) is a model-based algorithm that enforces a designated impedance on all cooperating manipulators, the manipulated object, and the moving base if applied on a mobile robotic system. For tuning the inner object forces, it is needed to model the inner forces/torques. For this purpose, the virtual linkage model is introduced to determine the inner forces using the MIC law...
A long calculation time is required to solve the inverse kinematics problem by the numerical iterative method (i.e. Newton-Raphson method) if the dimension of the Jacobian matrix becomes large. In this paper a new high speed numerical calculation method (SMJM method: simply modified Jacobian matrix method) to calculate the inverse kinematics of nonredundant manipulators and redundant manipulators...
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