robust manipulator motion control
Robust Fuzzy Control for 2-DOF Manipulator System
... There are many methods for generating the dynamics of a mechanical system. All methods generate equivalent sets of equations, but different forms of the equations may be better suited for computation or analysis. A ...
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Motion Control Strategies based on PD Control for a Four Degree of Freedom Serial Robotic Manipulator to Mimic Human Index Finger Articulations
... effective control strategies for robotic manipulators have been ...11-12], robust, adaptive, sliding mode control ...to control a single manipulator representing the human index finger ...
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Joint-space recipes for manipulator robots performing compliant motion tasks : trajectory-optimization, interpolation, and control
... pliant motion control concerning both planning and control ...describing motion constraints and the simplified treatment of robot’s kinematic/dynamic models, operational-space is taken for ...
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Robust Control for a 3DOF Articulated Robotic Manipulator Joint Torque under Uncertainties
... the manipulator, and optimized for a specific job ...of motion of robot ...robotic manipulator), it is required to add the actuator dynamics to the arm ...link manipulator based on the link ...
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Robust Hybrid Motion Force Control Algorithm for Robot Manipulators
... a robust hybrid motion/force controller for rigid link manipulators has been pre ...The robust controller was shown to be globally stable in the sense t hat t he control obje ct ives are achie ...
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QFT Control of a Two-Link Rigid-Flexible Manipulator
... rigid-flexible manipulator system. To control the manipulator’s end point position for accurate tracking of a desired trajectory, motion of the manipulator is divided to two rigid and flexible ...
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Robust Fault Diagnosis and Accommodation for a Robotic Manipulator under Human Interaction
... Impedance control represents an important tool in in- teraction tasks that does not rely on an specific force pattern by the ...and motion, the impedance control schemes are widely used in ...
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Some Considerations on the Self-Motion Curves of a Planar 3R Manipulator
... thropomorphic manipulator whose primary task is to position the wrist in space possesses eight disconnected self-motion curves throughout the entire reachable ...this manipulator can simultaneously ...
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Design and Implementation of the Remote Control of the Manipulator
... remote control of the industrial manipulator Katana ...remote control. This so ware part of the solution consists of the main control so ware running on the server, the reservation system and ...
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Pneumatically Driven Robot System with Force Perception for Minimally Invasive Surgery
... • We developed slave forceps manipulator that has 6-DOFs driven by pneumatic actuators with flexible joint. • For the pneumatic slave manipulator, force control type of the impedance [r] ...
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MAGNETIC BRAKING SYSTEM IN AUTOMOBILES A NOVEL APPROACH TO MITIGATE ROAD ACCIDENTS A Hemanth 1, A Pavan Kumar2 , G V Jagannath 3 Naveen Sai Ommi 4
... to control accidents with new human ...traffic control (ATC), automotive collision avoidance, robot manipulator control ...the control system arranged in the automobile which in turn ...
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Kinematic Control of a New Hyper-Redundant Manipulator with Lockable Joints
... a control strategy for selecting properly the best link to be unlocked for controlling the situation of the ...the control strategy. The control scheme is also used for tracking a circular trajectory ...
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Coordinated motion control of a 3 link dual arm underwater vehicle manipulator system using resolved acceleration control method
... to control the ro- tational speed of these thrusters, voltage signal inputs from the master computer were initially sent to two units of dsPIC30F3011 microcon- trollers from Microchip ...(PWM) control ...
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Sliding mode control of an X4 AUV
... This X4-AUV dynamic model has 6 outputs, while the number of inputs is four. We are unable to control all states at the same time. Then, in order to track a desired position the controller outputs x, y, z and ...
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Fuzzy Logic Genetic Algorithm Neural Network for Mobile Robot Navigation: A Survey
... mode control (FSMC). The fuzzy target tracking control unit (FTTCU) consisted by the behavior network and the gate network has been applied to the target tracking control with obstacle ...the ...
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Robust Design of Pulse Oximeter Using Dynamic Control and Motion Artifact Detection Algorithms
... One of the most important points in designing the electronic circuits of pulse oximeters is to provide PPG signals with a maximally available dynamic range, without sacrificing amplitude resolutions, regardless of ...
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On transcending the impasse of respiratory motion correction applications in routine clinical imaging - a consideration of a fully automated data driven motion control framework
... Data-driven motion control techniques are still only minimally developed, but may offer fast, inexpensive, and potentially robust systems to heed this ...data-driven motion control ...
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Hybrid Concepts of the Control and Anti-Control of Flexible Joint Manipulator
... mode control for trajectory tracking and vibration control of a flexible joint ...position control of a flexible joint ...mode control methodology without calculating the Jacobian of the ...
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Study on the dynamics and force control of a robotic manipulator
... To control such versatility, not only does the robot need a m ore pow erful control system to com pute its co-ordinate transform ations in real-tim e, b u t the arm also becomes less rigid and repeatable, ...
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A new Constant Pushing Force Device for human walking analysis
... serial manipulator featuring springs that provide gravity balancing to the device and exert a constant force regardless of the pelvis motion during ...the motion of the hip and ankle ...
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