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It is well-known that iff the robot with its end-effector force control is passive, the closed loop system consisting of the robot and an arbitrary passive environment is asymptotically stable. Passive robot control, however, limits the achievable robot impedance reduction. Recently, investigated what performance can be achieved with nonpassive control when uncertainty bounds for the environment are...
Comanipulation (i.e. a man and a robot sharing the same task) is an emerging robotics field. Despite interesting preliminary results, there is still a number of issues to be fixed for efficient implementation of cobotics, for example in the force amplification case. We will show how to solve problems like apparent inertia limitation, passivity constraints, force transient optimization, etc. Theoretical,...
An industrial manipulator for the easy and safe human-robot cooperation is under development and the research results will be introduced in this paper. Until now, it is difficult to operate the industrial robot manipulators for not-trained worker for the manipulator operation. Moreover, most of the industrial robot manipulators are used in the separated environments because it can harm the operator...
A multi-fingered universal robot hand has been developed in order to construct the platform of humanoid hand study. We also have developed a small and five-fingered robot hand. The robot hand is designed to protect the small driving system from a large external force. This protection mechanism is small enough to be installed in the joint driving mechanism and adaptable enough to deal with various...
Industrial robots are always requested to realize a fast position control and keep a robot safety on external force. In order to realize a fast position control, we have already proposed both the dynamic internal torque compensation of its motion reference and the robust continuous path tracking control with vibration suppression control. For the purpose of keeping the robot safety on external force,...
This paper advances specific strategies that can be utilized to fuse data from some of the most extensively used sensors in robotic workcells viz. vision sensors and proximity sensors. Vision sensor and proximity sensor are used to obtain the workspace occupancy information. Data from these redundant, yet diverse, sensors have been fused using Bayesian inference to obtain an occupancy grid model of...
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