Damping Cutters with Varying Stiffness

Robust Direct Adaptive Fuzzy Control of Flexible Joints Robots with Time-Varying Stiffness/Damping Parameters

In this article, we address the problem of controlling unknown flexible-joint robots with unknown time-varying stiffness and damping parameters. We propose a Robust Direct Adaptive Fuzzy Control (RDAFC) strategy that accommodates the dynamics anonymity and joints stiffness/damping variations. The RDAFC strategy relies on the synergy of the concepts of fuzzy logic approximation and the Sliding M...

THE MODEL UPDATING OF MASS, DAMPING AND STIFFNESS MATRICES

Stiffness Matrices for Axial and Bending Deformations of Non-Prismatic Beams with Linearly Varying Thickness

Siffness matrices for axial and bending deformations of a beam having a rectangular cross sectional area of constant width and linearly varying thickness are developed. A consistant load vector for a uniformly distributed lateral load is also calculated, using the principal of potential energy. The matrices are used to obtain numerical results for a variety of beams with non-uniform thickness t...

Modeling robot discrete movements with state-varying stiffness and damping: A framework for integrated motion generation and impedance control

Successful execution of many robotic tasks requires precise control of robot motion and its interaction with the environment. In robotics these two problems are mainly studied separately in the domain of robot motion generation and interaction control, respectively. Existing approaches rely on two control loops: a motion generator (planner) that provides a reference trajectory in the outer loop...

Direct Adaptive Control for Nonlinear Matrix Second-order Systems with Time-varying and Sign-indefinite Damping and Stiffness Operators

A direct adaptive control framework for a class of nonlinear matrix second-order systems with time-varying and sign-indefinite damping and stiffness operators is developed. The proposed framework guarantees global asymptotic stability of the closed-loop system states associated with the plant dynamics without requiring any knowledge of the system nonlinearities other than the assumption that th...