Results 241 to 250 of about 17,988,623 (311)
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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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2014
Up to this point, nanopositioning controllers have used displacement sensors as the feedback variable. The major drawbacks of typical displacement sensors are the limited bandwidth associated measurement noise.
Andrew J. Fleming, Kam K. Leang
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Up to this point, nanopositioning controllers have used displacement sensors as the feedback variable. The major drawbacks of typical displacement sensors are the limited bandwidth associated measurement noise.
Andrew J. Fleming, Kam K. Leang
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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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Force tracking in impedance control
[1993] Proceedings IEEE International Conference on Robotics and Automation, 1997This article presents two simple on-line schemes for force tracking within the impedance-control framework. The force- tracking capability of impedance control is particularly important for providing robustness in the presence of large uncertainties or variations in environmental parameters.
Homayoun Seraji, Richard Colbaugh
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Force-Controlled Inorganic Crystallization Lithography
Journal of the American Chemical Society, 2006Lithography plays a key role in integrated circuits, optics, information technology, biomedical applications, catalysis, and separation technologies. However, inorganic lithography techniques remain of limited utility for applications outside of the typical foci of integrated circuit manufacturing.
Chao-Min, Cheng, Philip R, LeDuc
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Industrial Robot: An International Journal, 2000
There are two commercially accepted methods of force control used in automated surface finishing today. The first method, “through‐the‐arm” force control, applies force using the position of all the robot axes in unison. The second method, “around‐the‐arm” force control, uses the robot for positioning motion only, and applies a controlled force ...
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There are two commercially accepted methods of force control used in automated surface finishing today. The first method, “through‐the‐arm” force control, applies force using the position of all the robot axes in unison. The second method, “around‐the‐arm” force control, uses the robot for positioning motion only, and applies a controlled force ...
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1999
Direct force control schemes are developed which achieve force regulation when the end effector is in contact with a compliant environment, thanks to the adoption of an integral action on the force error generated by an outer force loop. Motion control capabilities along the unconstrained task directions are recovered using a parallel composition of ...
Bruno Siciliano, Luigi Villani
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Direct force control schemes are developed which achieve force regulation when the end effector is in contact with a compliant environment, thanks to the adoption of an integral action on the force error generated by an outer force loop. Motion control capabilities along the unconstrained task directions are recovered using a parallel composition of ...
Bruno Siciliano, Luigi Villani
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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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Pantograph/Catenary Contact Force Control
Volume 6: 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, 2015In this paper, a new continuum-based pantograph/catenary model based on the absolute nodal coordinate formulation (ANCF) is proposed and used to develop an effective method to control the contact force which arises from the pantograph/catenary interaction.
Pappalardo, Carmine M. +3 more
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1999
The potential offered by motion control strategies to ensure a compliant behavior during the interaction between the end effector and the environment is investigated. Compliance control and impedance control are introduced as effective tools to achieve indirect control of the contact force.
Bruno Siciliano, Luigi Villani
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The potential offered by motion control strategies to ensure a compliant behavior during the interaction between the end effector and the environment is investigated. Compliance control and impedance control are introduced as effective tools to achieve indirect control of the contact force.
Bruno Siciliano, Luigi Villani
openaire +1 more source