Admittance Control Method Achieving Steady Contact

Unified Contact Force Control Approach for Cable-driven Parallel Robots using an Impedance/Admittance Control Strategy

In this paper a unified contact force control approach for cable-driven parallel robots (CDPR) is proposed. The contact force controller is governed by two control loops: 1) An inner impedance control loop enforcing a dynamical relationship between the internal forces and the end-effector velocities to maintain a desired tension level in the cable system. 2) An outer admittance control loop con...

Low Frequency Admittance of a Quantum Point Contact.

We present a current and charge conserving theory for the low frequency admittance of a quantum point contact. We derive expressions for the electrochemical capacitance and the displacement current. The latter is determined by the emittance which equals the ca-pacitance only in the limit of vanishing transmission. With the opening of channels the capacitance and the emittance decrease in a step...

Simulation of the Admittance Control Based Haptic Interface Device

A method for achieving rapidly steady-state blood concentrations of I.V. drugs.

The theoretical basis of a pharmacokinetic method to obtain rapidly and maintain a steady plasma concentration of an i. v. drug is described. Computer simulations of morphine disposition in man, using pharmacokinetic constants obtained from the literature, are provided as examples of steady-state dose regimens. The usefulness and potential limitations of the method are discussed.

Improved multimodal admittance method in varying cross section waveguides.

An improved version of the multimodal admittance method in acoustic waveguides with varying cross sections is presented. This method aims at a better convergence with respect to the number of transverse modes that are taken into account. It is based on an enriched modal expansion of the pressure: the N first modes are the local transverse modes and a supplementary (N+1)th mode, called boundary ...