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Hybrid Position/force Control

Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation

Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation

... ble force controller to tension the cables during the contact force ...cable force control presented in Kraus et ...the hybrid position-force control. For motion ...

7

Development of a high speed and precision wire clamp with both position and force regulations

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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An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non rigid environments

An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non rigid environments

... to force changing since it did not have force error in its ...dynamic hybrid position/force control scheme to deal with an unknown ...and force control designs are ...

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Evaluation of three force-position hybrid control methods for a robot-based biological joint-testing system

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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Hybrid Motor System for High Precision Position Control of a Heavy Load Plant

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

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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Online Full Text

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 ...

6

The robotic manipulation of flexible materials : a hybrid position/force approach

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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Hybrid active and passive control of vibratory power flow in flexible isolation system

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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Joint-space recipes for manipulator robots performing compliant motion tasks : trajectory-optimization, interpolation, and control

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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Modelling and Analysis About a Fault State of a New Cockpit Control Mechanism

Modelling and Analysis About a Fault State of a New Cockpit Control Mechanism

... cockpit control mechanism is analyzed and the mathematical model of the control force-displacement under different working conditions is established according to its working ...the control ...

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Tissue Changes of the Periodontium in a Periodontal Patient as a Result of Orthodontic Treatment

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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Fish robot position control using the object tracking algorithm

Fish robot position control using the object tracking algorithm

... the position of the fish ...this position data,we send the control data to control and track the fish robots using RF (Radio Frequency) ...

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Moral force in war : Clausewitz and hybrid warfare

Moral force in war : Clausewitz and hybrid warfare

... military force as a foreign policy instrument is routinely wielded in a variety of kinetic and non-kinetic ways; achieving information effects or influencing populations through propaganda is notoriously difficult ...

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The SmartHand transradial prosthesis

The SmartHand transradial prosthesis

... One of the most challenging tasks in this field is cer- tainly that of developing a dexterous intrinsic prosthetic hand, i.e. a hand that contains all its functional compo- nents (actuators, sensors, electronics, etc.), ...

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Techniques for automatic assembly

Techniques for automatic assembly

... Finally a six degree-of-freedom force-displacement sensor, able to be used for, either vibratory position sensing, or contact force position sensing, was developed.... CHAPTER THREE - Th[r] ...

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Hybrid Differential Evolution based Concurrent Relay-PID Control for Motor Position Servo Systems

Hybrid Differential Evolution based Concurrent Relay-PID Control for Motor Position Servo Systems

... The block diagram of proposed controller CRPID has been shown in Fig. 3. Control strategy consists of two subcontrollers. The PID subcontroller is a conventional PID controller. The deadband relay, lead ...

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Investigation on Force Scaling for Multi Degree of Freedom Bilateral Teleoperation Control System

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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Changes in balance and joint position sense during a 12 day high altitude trek: The British Services Dhaulagiri medical research expedition

Changes in balance and joint position sense during a 12 day high altitude trek: The British Services Dhaulagiri medical research expedition

... Postural control is an essential factor required to perform many daily activities and has been utilised as a factor to classify elderly fallers and non-fallers ...postural control makes the trekker ...

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Fuzzy controller design for position control

Fuzzy controller design for position control

... A common type of servo provides position control. Servos are commonly electrical or partially electronic in nature, using an electric motor as the primary means of creating mechanical force. Other ...

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