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This paper proposes a new motion control strategy for industrial robots. It is important for industrial robots to regulate the motion of robot on condition of high speed and high accuracy. However, an industrial robot often has the vibration phenomenon which is generated by the resonant frequency and the nonlinear interference force from the other joints of robot. In order to overcome these problems,...
Human walking gait (HWG) involves concurrently complex aspects of control, signal conditioning and processing, motion capture and biomechanical analysis as well as bioelectronic instrumentation and robot control. To merge some of these concepts into a unique framework, in this paper, a computational mechatronics scheme is proposed for the analysis and synthesis of HWG based on a seven-link sagittal...
Assuming a pure elastic environment and a contact force acting only along the normal direction to the undeformed environment surface, the influence of the working parameters of a 2 DOF planar manipulator to the dynamic behaviour of the system is well investigated. The proposed analysis suggests the implementation of a hybrid force-position control and the design of a nonlinear state feedback controller...
This paper describes a procedure for obtaining the dynamical model of a space robot in a form that is useful for simulation. The differential equations of motion of the space robot are derived using a constrained Lagrangian approach to mechanics. Quaternions are utilized to model rotation which gives rise to generalized forces that are in the direction of the quaternion elements. A transformation...
In this paper, a new desktop orthogonal-type robot with a CAD/CAM-based position/force controller is presented for finishing small metallic molds with curved surface. The robot consists of a three-axis robot whose single one has a high position accuracy of 1 mum, which means that it can perform higher resolutions of position and force, compared to general industrial robots. A thin wood stick tool...
In this paper, the impedance perceived by an operator of a robot in multilateral control system under constant communication time delay is considered. The multilateral control system is one of the methods which transmit tactile sense to many remote places. Time delay possibly makes the performance of the multilateral control system worse. For example, time delay makes an operator feels large operational...
Wave variables approach is mostly used due to its conservation to keeping passivity in time delayed teleoperation. On the other hand, excess conservation of passivity results in degraded system performance on environment perception or positional maneuverability. In physical environments waves are reflected, diffracted and refracted. Thus, wave variables approach introduces drifting problem to control...
The paper firstly presents a mobile humanoid robot whose upper human-like body is rigidly mounted on the mobile platform with three wheels: two driving wheels and one caster wheel. The wheeled mobile platform moves on the ground subjected to nonholonomic constraints. Then the static equilibrium of the robot on a plane is discussed and tip-over stability of mobile humanoid robot moving on the slope...
Space debris objects are generally tumbling in orbit, and so capturing and braking them involves complicated dynamical interactions between the object, the so-called ldquoremoverrdquo spacecraft, and its robot arm, with the possibility of strong loading occurring during the procedure. In this paper, the remover and its space debris capture strategy is described which proposes the application of joint...
Force compliant trajectory optimization is a term used here to describe a method of following an optimized path while interacting with an environment having only partial a priori knowledge. This can be used when the start and goal poses are fixed and what knowledge is available allows an initial path to be given. A robot traversing this path then senses the interaction force with the environment and...
This paper presents a method to generate motion from human motion for a humanoid robot with physical limits. The method focuses on representing constraints for angle, collision, velocity, and dynamic force as B-spline coefficients. The constraints can be applied for offline optimization and online filtering. For optimization, the objective function is responsible for mimicking human trainers, while...
In this paper, modal transform method for cooperation working is proposed. With this method, the work is simply described by modal mass and arbitral number and location of robots are able to be controlled by conventional hybrid controller. Furthermore, rotation by linear actuators, one of the most important propositions in this research, is considered. Position, angle, force and torque are transformed...
There are lots of contact works with objects in works performed by manipulators. Moreover, the need of the surface contact works of polish, grinding, application, paint, inspection, etc., performed by manipulators is increasing rapidly in recent years. However, reports of studies of this kind of work are rare. This paper proposed a hybrid position, posture, force, and moment control for a six-degree-of-freedom...
In this paper, assembly skills for dry battery insertion are analyzed with respect to the applied force control. First, force control parameters used in dry battery insertion are identified based on human demonstration data. The time series data of force control parameters are then modeled based on a hidden Markov model (HMM). By analyzing the obtained HMM, basic motions necessary for achieving the...
A challenge for automating mechanical assembly is that cumulative uncertainties typically exceed part clearances, which makes conventional position-based tactics unsuccessful. Force-based assembly strategies offer a potential solution, although such methods are still poorly understood and can be difficult to program. In this paper, we describe a force-based robotic assembly approach that uses fixed...
In this paper, a neural adaptive force control of a parallel robot is proposed to solve the trajectory tracking problems. Assuming that the dynamic model of the system is a black box one, we use an a priori learning for its neural identification. And then, we use this results to design and adaptive control law. All adaptation laws of neural parameters are based on the stability of the closed loop...
This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact...
The laparoscopy surgery has been developed well enough to use a surgical robot as the development of robot technology. As distinct from the traditional large invasive surgery, surgical robot conducts the operation through small invasive hole using instrument which performs surgery instead of surgeon hand. And surgeon just drives the robot using master system located far from patient. But the surgical...
This paper describes development and experimental verifications of a novel propulsion and rotation technique for water-floating objects. As opposed to mechanical paddling, this technique electrically controls surface tension forces acting on water-floating objects without any moving parts (so-called electrowetting-on-dielectric, EWOD). As a proof of concept, a mini water-floating boat of centimeter...
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...
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