Results 221 to 230 of about 844,204 (267)
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1996
In this chapter we deal with the motion control problem for situations in which the robot manipulator end effector is in contact with the environment. Many robotic tasks involve intentional interaction between the manipulator and the environment. Usually, the end effector is required to follow in a stable way the edge or the surface of a workpiece ...
DE LUCA, Alessandro, B. SICILIANO
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In this chapter we deal with the motion control problem for situations in which the robot manipulator end effector is in contact with the environment. Many robotic tasks involve intentional interaction between the manipulator and the environment. Usually, the end effector is required to follow in a stable way the edge or the surface of a workpiece ...
DE LUCA, Alessandro, B. SICILIANO
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Development of isometric force and force control in children
Cognitive Brain Research, 2003Fifty-six children between 5 and 12 years of age and 15 adults performed a task (pressing on a lever with the index finger of the preferred hand), in which a force had to be maintained constant at five levels with on-line visual feedback. Since this is a simple isometric task, the hypothesis is that optimal performance (in terms of force variability ...
Smits-Engelsman, B.C.M. +2 more
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Learning force control with position controlled robots
Proceedings of IEEE International Conference on Robotics and Automation, 2002The paper applies a previously presented method for accurate tracking of paths to force control. This approach is very simple since it does not require a joint torque/motor current interface but only a positional interface. It can be applied with elastic end-effectors (sensors) as well as with stiff environments where most elasticity is in the robot ...
Lange, F., Hirzinger, G.
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The coordinate system for force control
Experimental Brain Research, 2014The primary objective of this study was to establish the coordinate frame for force control by observing how parameters of force that are not explicitly specified by a motor task vary across the workspace. We asked subjects to apply a force of a specific magnitude with their hand.
Devjani J, Saha +4 more
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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), 2002
In this paper, we consider hard contact force control law which shows good performance as well as enhanced stability and robustness. First, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff.
Nukju Doh, Wan Kyun Chung, Youngil Youm
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In this paper, we consider hard contact force control law which shows good performance as well as enhanced stability and robustness. First, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff.
Nukju Doh, Wan Kyun Chung, Youngil Youm
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An overview of robot force control
Robotica, 1997This paper reports on the existing robot force control algorithms and their composition based on the review of 75 papers on this subject. The objective is to provide a pragmatic exposition with speciality on their differences and different application conditions, and to give a guide of the existing robot force control algorithms.
Ganwen Zeng, Ahmad Hemami
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Force Decomposition in Robot Force Control
1991 American Control Conference, 1991It has been recently pointed out that the lack of unit invariance of the usual Euclidean norm on the twist and wrench spaces would render many of the results in robot force control invalid. This observation actually begs the more fundamental question of what force should be controlled.
Steve H. Murphy, John T. Wen
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Cognitive Force Control of Excavators
Journal of Aerospace Engineering, 1993One of the high‐volume and repetitive construction operations on earth is the excavation of soil. Automation of planetary excavation work requires a system that is able to perform the planned digging work that is responsive to interaction forces experienced during excavation.
Vähä, Pentti, Skibniewski, Miroslaw
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Force controlled robot for grinding
IEEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications, 2002Two algorithms for use in force controlled robot applications have been developed for grinding. The 'gradient prediction method' is presented as an improvement to contour following in the force control mode. In this method, the gradient of the workpiece is predicted, and the force errors caused thereby are corrected.
Kunio Kashiwagi +4 more
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On the Role of Compliance in Force Control
2015This paper proposes an overview and an interpretation on the role of compliance in force control within a framework where adaptive control arise as an intuitive approach. In our analysis, we show that force control stability can be assured only if exists a compliant interface between the robot and the environment.
Andrea Calanca, Paolo Fiorini
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