Passive force control of multimodal astronaut training robot
نویسندگان
چکیده
منابع مشابه
Robust Hybrid Motion Force Control Algorithm for Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...
متن کاملPassive Velocity Field Control (pvfc) Approach to Robot Force Control and Contour Following
A passive velocity field control (PVFC) approach is proposed to achieve simultaneous contour following, and force profile tracking control. The approach has the unique features that 1) it is energetically passive so that when it physically interacts with an object, safety and contact stability properties are enhanced; 2) contour following task is coded using a velocity field instead of the a ti...
متن کاملAstronaut Lunar Field Exploration Training
Introduction: Astronauts have not explored the lunar surface since December 1972. NASA's new plans for the manned return to the Moon revolve around the construction and establishment of a lunar polar outpost starting around the year 2020. Therefore, in order to achieve NASA's new exploration objectives it seems prudent to dust off certain aspects of the Apollo playbook. The six Apollo lunar lan...
متن کاملMechanical Computation for Passive Force Control
Force control implemented by a passive mechanical device (perhaps a wrist) has inherent advantages over active implementations. A passive mechanical device can regain some of the versatility of its active counterpart if it incorporates mechanical elements with programmable parameters, e.g. damping coefficients or spring stiffnesses. We wish to characterize the range of accommodation matrices th...
متن کاملImplementable Accommodation Matrices for Passive Force Control
Robot force control implemented by means of passive mechanical devices has inherent advantages over active implementations with regard to stability, response rapidity, and physical robustness. The class of devices considered in this paper consists of a Stewart platform-type mechanism interconnected with a network of adjustable mechanical elements such as springs and dampers. The control law rep...
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: International Journal of Advanced Robotic Systems
سال: 2019
ISSN: 1729-8814,1729-8814
DOI: 10.1177/1729881419848261