hybrid force/position control
An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non rigid environments
... the control of robot envi ronment interaction (also known as compliant motion) has emerged as one of the most attractive and fruitful research area in ...the position and in teraction force of ...
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Evaluation of three force-position hybrid control methods for a robot-based biological joint-testing system
... the force-position hybrid control method [17] is that the tests are restricted to stepwise quasi-static loading with a relatively low loading rate (Fujie et ...velocity-based force con- ...
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Joint-space recipes for manipulator robots performing compliant motion tasks : trajectory-optimization, interpolation, and control
... motion control refers to those control schemes that actively maintain the contact through an extra force feedback ...the hybrid motion/force control approach, which is firstly ...
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Hybrid active and passive control of vibratory power flow in flexible isolation system
... harmonic force f = f 0 e jωt , is mounted on a supporting beam-like structure C of length L through a mounting system B consisting of a passive isolator and an active ...a position parameter µ(0 < µ < ...
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Online Full Text
... novel control architecture for object manipulation by mobile robots combining cluster space control to maintain formation and explicit force control of the object was presented in this ...of ...
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Hybrid Motor System for High Precision Position Control of a Heavy Load Plant
... the force distribution of the system is better than the force of a system with one ...the position needs to be controlled and each motor has a high-power torque, a special controller has to be ...
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Robust Hybrid Motion Force Control Algorithm for Robot Manipulators
... Following Raibert and Craig [3] and Slotine and Li [4] two coordinate systems are defined. The first one-already defined in section II- is a frame of reference R 0 fixed on the robot base, which de fine s a Carte sian ...
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The robotic manipulation of flexible materials : a hybrid position/force approach
... This lacking in modelling is overcome by the use of heuristics in the derivation of task commands during task planning and the empirical determination of force references during control [r] ...
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Development of a high speed and precision wire clamp with both position and force regulations
... The position/force control has been receiving considerable attention from the ...Impedance control strategy can be used to indirectly regulate the force using a single controller ...
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Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation
... cable force is set to the corresponding limit ...erted force and torque of this cable is added to the ...for hybrid position-force control is pre- ...
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Image and Volume Segmentation by Water Flow
... This paper introduces a new general framework for image segmentation based on a paradigm of water flow. The operator successfully realizes the key attributes of flow process under the structure of force field ...
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Moral force in war : Clausewitz and hybrid warfare
... military force as a foreign policy instrument, are not a recent ...military force or other instruments, such as information – are affected by the same limitations other actors have routinely experienced, in ...
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Grasping Objects Using Shadow Dexterous Hand with Tactile Feedback
... The robot operating system is the software used for simulating the hand since it contains all the essential packages and libraries needed to perform configuration, calibration, control and simulation of the hand. ...
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Effect Of Cutting Parameter On Thin Wall Machining Accuracy
... By control and examine the characteristic during the operation from disturbance like the position of material(radial and feed), clamping force of machine tool, the cutting speed, also the parameters ...
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Hybrid Differential Evolution based Concurrent Relay-PID Control for Motor Position Servo Systems
... ABSTRACT: This paper presents the implementation of HDE algorithm for Concurrent Relay-PID (CRPID) controller for motor position servo systems. CRPID is composed of a deadband relay subcontroller which improves ...
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The SmartHand transradial prosthesis
... In the authors ’ opinion, robotic researchers should move towards the development of highly dexterous devices not only able to perform actions, but also ready to provide perception by means of a comprehensive arti- ...
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Tissue Changes of the Periodontium in a Periodontal Patient as a Result of Orthodontic Treatment
... side of the alveolar cortex, resorption occurs in such a way that the compact is gradually rearranged and at the same time displaced in the direction of tooth movement. This mechanism ensures the movement of the alveolar ...
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Modelling and Analysis About a Fault State of a New Cockpit Control Mechanism
... reasonable control force is a highly important factor for aircraft safety ...The force-feel system of a fly-by-wire aircraft force mainly includes a static force-feel system and a ...
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Investigation on Force Scaling for Multi Degree of Freedom Bilateral Teleoperation Control System
... cost force sensors to perceive the force from the end effector used, a method to estimate the force provides a robust ...the control loop, this method will cancel or compensate the disturbance ...
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Force controlled transcranial magnetic stimulation (TMS) robotic system
... its position throughout a prolonged TMS procedure will be necessary without excessively constraining the ...as force sensor that provides real-time feedback to the operator should be incorporated since the ...
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