Results 261 to 270 of about 4,418,098 (306)

Force tracking in impedance control

[1993] Proceedings IEEE International Conference on Robotics and Automation, 1997
This 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
openaire   +1 more source

Force-Controlled Inorganic Crystallization Lithography

Journal of the American Chemical Society, 2006
Lithography 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
openaire   +2 more sources

Force control basics

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 ...
openaire   +1 more source

Direct Force Control

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
openaire   +1 more source

Cognitive Force Control of Excavators

Journal of Aerospace Engineering, 1993
One 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
openaire   +2 more sources

Pantograph/Catenary Contact Force Control

Volume 6: 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, 2015
In 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., Patel, Mohil, Tinsley, Brian, Shabana, Ahmed A.   +3 more
openaire   +2 more sources

Indirect Force Control

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
openaire   +1 more source

Force‐based disturbance observer for dynamic force control and a position/force hybrid controller

IEEJ Transactions on Electrical and Electronic Engineering, 2013
AbstractIn this paper, a force‐based disturbance observer (DOB) and a force control system using the DOB are proposed to obtain dynamic force control under disturbances. A DOB can reduce the effect of disturbances and modeling errors on robots. In a conventional DOB, an acceleration response is fed back to a reference, enabling highly precise position ...
Sho Sakaino, Tomoya Sato, Kouhei Ohnishi
openaire   +1 more source

Sensorless force control with force error observer

IEEE International Conference on Industrial Technology, 2003, 2004
In this paper, novel force control method without force sensor is proposed. In general force control, force sensor such as strain gauge is used. But they have some drawbacks as represented by limited detectable point or narrow bandwidth. Using the proposed force error observer, sensorless force control and estimation of environmental force are realized.
W. Iida, K. Ohnishi
openaire   +1 more source

The Force/Force-Variability Relationship Under Controlled Temporal Conditions

Journal of Motor Behavior, 1988
Previously, an inverted U relationship between force and force variability was demonstrated in both static and dynamic responses. Recent research suggests that the inverted U function may be due to a lack of control of the temporal aspects of the response.
D E, Sherwood, R A, Schmidt, C B, Walter
openaire   +2 more sources