Mechanical analogies in hybrid position/force control

نویسندگان

  • Luc D. Joly
  • Claude Andriot
  • Vincent Hayward
چکیده

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Experimental Identification and Hybrid PID-Fuzzy Position Control of Continuum Robotic Arms

Continuum robotic arms that are inspired from nature, have many advantages compared to traditional robots, which motivate researchers in this field. Dynamic modeling and controlling these robots are challenging subjects due to complicated nonlinearities and considerable uncertainties existing in these structures. In this paper, first a dynamic three-dimensional model of the continuum robotic ar...

متن کامل

Design of an Adaptive Fuzzy Estimator for Force/Position Tracking in Robot Manipulators

This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...

متن کامل

Stability and performance in delayed bilateral teleoperation: Theory and experiments

In the presence of communication latency in a bilaterally controlled teleoperation system, stability and transparency are severely affected. In this paper, based on a passivity framework, admittance-type and hybrid-type delay-compensated communication channels, which warrant different bilateral control architectures, are introduced. Wave transforms and signal filtering are used to make the dela...

متن کامل

A Novel Arm-Wrestling Robot Using Motion Dependant Force Control

In recent decades, aging population of most advanced countries has increased sharply, and elderly health care has become economically a big social issue. One way to cope with this problem is to introduce various service robots such as an arm-wrestling robot proposed in the article into our daily lives, which are able to promote elderly health and to save elderly welfare cost. For successful exe...

متن کامل

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 کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 1997