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Robotic Polishing of Unknown-Model Workpieces With Constant Normal Contact Force Control
IEEE/ASME transactions on mechatronics, 2023Industrial robots are increasingly being considered for application in performing polishing operations. Most research has been performed on workpieces with a priori (CAD) model, and used impedance control or hybrid force-position control to achieve ...
Jian Li +4 more
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Kinematics-Based Motion-Force Control for Redundant Manipulators With Quaternion Control
IEEE Transactions on Automation Science and Engineering, 2023Motion-force control of redundant manipulators is universally regarded as a pivotal issue in industrial manufacturing, especially for the processing of precision instruments.
Zhengtai Xie, Long Jin, Xin Luo
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Data-Driven Motion-Force Control Scheme for Redundant Manipulators: A Kinematic Perspective
IEEE Transactions on Industrial Informatics, 2022Redundant manipulators play a critical role in industry and academia, which can be controlled from the kinematic or dynamic perspective. The motion-force control of redundant manipulators is a core problem in robot control, especially for the task ...
Jialiang Fan +4 more
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Hybrid Vision/Force Control of Soft Robot Based on a Deformation Model
IEEE Transactions on Control Systems Technology, 2021Soft robots are more safe than rigid robots in tasks with environmental interactions. To implement the interaction control for soft robots, this article proposes a hybrid vision force controller.
Hesheng Wang +3 more
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Jamming Analysis and Force Control for Flexible Dual Peg-in-Hole Assembly
IEEE transactions on industrial electronics (1982. Print), 2019In order to deal with automatic assembly problems for flexible components, in this paper we develop contact states analysis, jamming analysis, and force control strategies for flexible dual peg-in-hole assembly.
Kuangen Zhang +4 more
semanticscholar +1 more source
Learning Force Control for Legged Manipulation
IEEE International Conference on Robotics and AutomationControlling the contact force during interactions is an inherent requirement for locomotion and manipulation tasks. Current reinforcement learning approaches to locomotion and manipulation rely implicitly on forceful interaction to accomplish tasks but ...
Tifanny Portela +3 more
semanticscholar +1 more source
Quadratic Programming for Multirobot and Task-Space Force Control
IEEE Transactions on robotics, 2019We have extended the task-space multiobjective controllers that write as quadratic programs (QPs) to handle multirobot systems as a single centralized control.
Karim Bouyarmane +3 more
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Position/force control of robot manipulators using reinforcement learning
Industrial robot, 2019Purpose The position/force control of the robot needs the parameters of the impedance model and generates the desired position from the contact force in the environment.
Adolfo PerrusquÃa, Wen Yu, A. Soria
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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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1999
One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector.
SICILIANO, BRUNO, VILLANI, LUIGI
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One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector.
SICILIANO, BRUNO, VILLANI, LUIGI
openaire +3 more sources