نتایج جستجو برای: admittance control
تعداد نتایج: 1330787 فیلتر نتایج به سال:
BACKGROUND In a deforming anatomic environment, the motion of an instrument suffers from complex geometrical and dynamic constraints, robot assisted minimally invasive surgery therefore requires more sophisticated skills for surgeons. This paper proposes a novel dynamic virtual fixture (DVF) to enhance the surgical operation accuracy of admittance-type medical robotics in the deforming environm...
This thesis summarizes guidelines for the design and control of a highly integrated, multi-modal, and intuitive teleoperation system that can be used to perform a variety of different manipulation tasks requiring bimanual and multi-fingered interactions as well as the collaboration of multiple operators. Hereby, exclusively teleoperation systems using admittance-type devices are investigated. B...
In this paper a unified contact force control approach for cable-driven parallel robots (CDPR) is proposed. The contact force controller is governed by two control loops: 1) An inner impedance control loop enforcing a dynamical relationship between the internal forces and the end-effector velocities to maintain a desired tension level in the cable system. 2) An outer admittance control loop con...
To get a compliant active exoskeleton controller, the force interaction controllers are mostly used in form of either the impedance or admittance controllers. The impedance or admittance controllers can only work if they are followed by either the force or the position controller respectively. These combinations place the impedance or admittance controller as high-level controller while the for...
This paper presents a novel visual-admittance-based model predictive control scheme to cope with the problem of vision/force and several constraints nuclear collaborative robotic visual servoing system. A visual-admittance considering desired image feature force command in space is proposed. Moreover, constraint (MPC) proposed cancel overshoot interaction for most cases by taking as MPC. Via ap...
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