منابع مشابه
Force Control in Coordination of Two Arms
The use of two arms simplifies manipulatory tasks such as assembly of an object from large parts which cannot be handled by one arm. This paper describes the control method for coordination of two arms. As fundamental tasks, the parallel transfer task and the rotational transfer task are considered. More complex tasks are accomplished by using these two modes simultaneously. The control of moto...
متن کاملShear force feedback control of flexible robot arms
For flexible robots with rotational joints it has been shown previously, by the first author, that direct strain feedback can damp out vibrations very satisfactorily. In this paper, a simple sensor-based output feedback control law, called shear force feedback, is newly proposed to control vibrations arising from structural flexibility of robots of Cartesian or SCARA types. Closed-loop exponent...
متن کاملDirection of force generated by the inner row of dynein arms on flagellar microtubules
Our goal was to determine the direction of force generation of the inner dynein arms in flagellar axonemes. We developed an efficient means of extracting the outer row of dynein arms in demembranated sperm tail axonemes, leaving the inner row of dynein arms structurally and functionally intact. Sperm tail axonemes depleted of outer arms beat at half the beat frequency of sperm tails with intact...
متن کاملExternal Force Disturbance Rejection in Robotic Arms: An Adaptive Approach
This paper is devoted to the problem of force sensorless disturbance rejection in robot manipulators. In the proposed approach, the control system uses position sensor signals and estimated values of external forces, instead of force sensor signals. The estimation process is performed via an adaptive force estimator. Then the estimated force vector is utilized to compensate for the force distur...
متن کاملOptimal Trajectories and Force Distribution for Cooperating Arms
The optimization of trajectories and actuator torques for a dual arm manipulation system is considered. Given the starting and nal conngurations, we nd the trajectories that minimize (a) the integral of the norm of the vector of derivatives of the actuator forces; and (b) the integral of the norm of the actuator forces. In this way both kinematic and actuator redundancy are resolved. The optimi...
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ژورنال
عنوان ژورنال: Nature
سال: 1979
ISSN: 0028-0836,1476-4687
DOI: 10.1038/277170d0