Stiffness Control of Antagonistically Driven Joints Mechanism
نویسندگان
چکیده
منابع مشابه
Integer-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 کاملNonlinear Dynamics and Control of Crank-Slider Mechanism with Multiple Clearance Joints
In the current study, behavior of crank-slider mechanism with single and multiple clearance joints are analyzed. Using Lankarani-Nikravesh theory for estimating discontinuous contact forces in clearance joints, relevant systems have been mathematically modeled. Through numerical simulations, perturbations in response of mechanisms with clearance joints have been analyzed. Effects of increasing ...
متن کاملA new bio-inspired, antagonistically actuated and stiffness controllable manipulator
Robotic manipulators can be divided into different classes, including discrete, serpentine and continuum robots [1]. Most robots in use today have a number of discrete and usually rigid links connected by simple joints. Our work though has been inspired by biology [2], [3] specifically by the octopus, with its soft tentacles and virtually infinite number of degrees of freedom (DoFs). Biological...
متن کاملA Performance Evaluation of Four Bar Mechanism Considering Flexibility of Links and Joints Stiffness
This paper deals with the study of joint clearance on kinematics of mechanism and bearing stiffness along with links flexibility on modal analysis at higher frequency. Literature survey reveals that the studies were carried out for highspeed mechanism considering linkage flexibility without considering bearing stiffness. The method of calculating clearance at joints, checking for orientation of...
متن کاملA 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 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: Journal of the Robotics Society of Japan
سال: 2011
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.29.192