A necessary and sufficient condition for manipulation force applicability of robot manipulators.

نویسندگان

چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

متن کامل

A Necessary and Sufficient Condition for Transcendency

As has been known for many years (see, e.g., K. Mahler, /. Reine Angew. Math., v. 166, 1932, pp. 118-150), a real or complex number f is transcendental if and only if the following condition is satisfied. To every positive number co there exists a positive integer n and an infinite sequence of distinct polynomials {p,(z)} = {pr + pr z + • • • + p z } at most of 0 1 n degree n with integral coef...

متن کامل

A Necessary and Sufficient Condition for Peace∗

This paper examines the possibility for two contestants to agree on a peace settlement thereby avoiding a contest, in which each would exert a costly effort given the posterior distributions inferred from the negotiation. I find a necessary and sufficient condition of the prior distributions for there to exist a negotiation mechanism that admits a peace-ensuring perfect Bayesian equilibrium. Th...

متن کامل

Design of an Adaptive Fuzzy Estimator for Force/Position Tracking in Robot Manipulators

This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...

متن کامل

A necessary and sufficient minimality condition for uncertain systems

A necessary and sufficient condition is given for the exact reduction of systems modeled by linear fractional transformations (LFT’s) on structured operator sets. This condition is based on the existence of a rank-deficient solution to either of a pair of linear matrix inequalities which generalize Lyapunov equations; the notion of Gramians is thus also generalized to uncertain systems, as well...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Journal of the Robotics Society of Japan

سال: 1986

ISSN: 0289-1824,1884-7145

DOI: 10.7210/jrsj.4.3