Control of compliant anthropomimetic robot joint
نویسندگان
چکیده
منابع مشابه
CONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY
A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...
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In this paper, we develop an adaptive decentralized compliant control of robot manipulator. The robot manipulator is in contact with the environment and the contact force is normal to the contact plane. When the environment stiffness is given, an adaptive decentralized compliant controller is designed based on a Lyapunov based method such that both the force tracking error and the complementary...
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The work presented here is a nonlinear approach for the control and stability analysis of manipulative systems in compliant maneuvers. Stability of the environment and the manipulator taken as a whole has been investigated using unstructured models for the dynamic behavior of the robot manipulator and the environment, and a bound for stable manipulation has been derived. We show that for stabil...
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Seung-kook YUN** , Seong-Sik YOON** , Sungchul KANG**, and Munsang KIM** **Intelligent Robotics Research Center, Korea Institute of Science and Technology, Hawolgok-dong1 39-1, Sungbuk-ku, Seoul 136-791, Korea E-mail: [email protected], [email protected], {kasch, munsang}@kist.re.kr Mr. Seung-kook Yun is now with Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute ...
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A grinding robot system is presented in this paper. Active compliant motion control is applied to keep contacting between grinding tool and work pieces and auto surface tracking algorithm was developed to trace the outline of work-pieces. For real implementation of the system, the shape of work pieces are informed through barcode and the piece’s dimension is measured with a laser distance senso...
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ژورنال
عنوان ژورنال: Serbian Journal of Electrical Engineering
سال: 2011
ISSN: 1451-4869,2217-7183
DOI: 10.2298/sjee1101085s