Composite Controller for Antagonistic Tendon Driven Joints With Elastic Tendons and Its Experimental Verification
نویسندگان
چکیده
منابع مشابه
A sensorless torque control for Antagonistic Driven Compliant Joints
Antagonistic Driven Compliant Joints (ADCJs) are object of great interest in current robotics research, representing one of the most widely applied solutions to develop human-like and safe joints for humanrobot interaction. Providing the joint with ‘‘actively” adjustable hardware compliance, ADCJs have two distinctive features: (1) the joint is powered by two independent ‘‘actuation units” and ...
متن کاملInteger-order Versus Fractional-order Adaptive Fuzzy Control of Electrically Driven Robots with Elastic Joints
Real-time robust adaptive fuzzy fractional-order control of electrically driven flexible-joint robots has been addressed in this paper. Two important practical situations have been considered: the fact that robot actuators have limited voltage, and the fact that current signals are contaminated with noise. Through of a novel voltage-based fractional order control for an integer-order dynamical ...
متن کاملdesigning and validating a textbook evaluation questionnaire for reading comprehension ii and exploring its relationship with achievement
در هر برنامه آموزشی، مهم ترین فاکتور موثر بر موفقیت دانش آموزان کتاب درسی است (مک دونو و شاو 2003). در حقیقت ، کتاب قلب آموزش زبان انگلیسی است( شلدن 1988). به دلیل اهمیت والای کتاب به عنوان عنصر ضروری کلاس های آموزش زبان ، کتب باید به دقت ارزیابی و انتخاب شده تا از هرگونه تاثیر منفی بر دانش آموزان جلوگیری شود( لیتز). این تحقیق با طراحی پرسش نامه ارزیابی کتاب که فرصت ارزیابی معتبر را به اساتید د...
15 صفحه اولAn adaptive neural controller for a tendon driven robotic hand
In this paper we present our ongoing work on the control of a tendon driven robotic hand by an adaptive learning mechanism evolved using a simulator developed over the last years. We present the “ligand-receptor” concept that can be easily used by artificial evolution to explore (a) the growing of a neural network, (b) value systems and (c) learning mechanisms systematically for a given task (i...
متن کاملExperimental investigation of reinforced bonded joints for composite laminates
An experimental study has been carried out to investigate the behaviour of co-bonded carbon fibre reinforced plastics joints with a novel design incorporating a through the thickness local reinforcement. Different specimens were manufactured to investigate static and fatigue behaviour, as well as delamination size after impact and damage tolerance characteristics. The mechanical performances of...
متن کاملذخیره 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: IEEE Access
سال: 2018
ISSN: 2169-3536
DOI: 10.1109/access.2017.2787839