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Force control of a flexible arm
Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 2002In this paper, robust force control of a flexible arm is considered. We derive the dynamic equations of the joint angle and vibration of the flexible arm and its contact force. On the basis of a finite-dimensional model of distributed-parameter systems, an LQ controller, an optimal controller with low-pass property and a robust N/sub /spl infin ...
Fumitoshi Matsuno +2 more
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Force control of robot manipulators
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2002The state of the art of force control for robot manipulators is surveyed in this article. An overview and a unified description of the two major approaches to force control are presented. Several research topics related to force control are also surveyed.
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Force control of robots with nonlinearities
Journal of Intelligent and Robotic Systems, 1992This paper explores two practical issues related to the force control of manipulators. The first issue examined is how system stability is effected by commonly occurring manipulator nonlinearities, such as sampled-data, control signal saturation and slip-stick friction.
Julio J. Gonzalez, Glenn R. Widmann
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Geometric stability in force control
Proceedings. 1991 IEEE International Conference on Robotics and Automation, 2002Previous implementations of robot force control seldom produced satisfactory results, and researchers in the past have experienced significant instability problems associated with their force controllers. When a manipulator is constrained to an environment (force-controlled), geometric stability due to the manipulator configuration and the force ...
Byung-Ju Yi +3 more
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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
Visual servos are inherently inaccurate due to lower resolution of reasonably priced cameras and poor calibration of robot-camera relative position and robot kinematic model. Instead of trying to improve those factors the paper presents an alternative solution in which the grasping operation is aided by force control which accommodates positional ...
Maciej Staniak +2 more
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Visual servos are inherently inaccurate due to lower resolution of reasonably priced cameras and poor calibration of robot-camera relative position and robot kinematic model. Instead of trying to improve those factors the paper presents an alternative solution in which the grasping operation is aided by force control which accommodates positional ...
Maciej Staniak +2 more
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Force control with a velocity observer
2003 European Control Conference (ECC), 2003The aim of this paper is to study the force/position tracking problem of robot manipulators using the well-known hybrid/position control approach. It is shown that the robot system is closed-loop stable and that the desired force can always be reached.
Jorge Gudiño-Lau, Marco A. Arteaga
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2022 IEEE 17th International Conference on Advanced Motion Control (AMC), 2022
Keita Shimamoto, Toshiyuki Murakami
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Keita Shimamoto, Toshiyuki Murakami
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Curvature in force/position control
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 2002If a rigid body is subject to a set of holonomic constraints then the set of allowed positions and orientations comprise a subspace in the group of rigid body motions. Consideration of the geometry of these constraint subspaces leads us to consider their second fundamental form. This allows us to predict the constraint forces and torques generated by a
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Force spectroscopy of single cells using atomic force microscopy
Nature Reviews Methods Primers, 2021Albertus Viljoen +2 more
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