A Reliable Gravity Compensation Control Strategy for dVRK Robotic Arms With Nonlinear Disturbance Forces [PDF]
IEEE Robotics and Automation Letters, 2019 External disturbance forces caused by nonlinear springy electrical cables in the Master Tool Manipulator (MTM) of the da Vinci Research Kit (dVRK) limits the usage of the existing gravity compensation methods. Significant motion drifts at the MTM tip are often observed when the MTM is located far from its identification trajectory, preventing the usage
Hongbin Lin +5 more
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A Novel Gravity Compensation Method for High Precision Free-INS Based on “Extreme Learning Machine”
Sensors, 2016 In recent years, with the emergency of high precision inertial sensors (accelerometers and gyros), gravity compensation has become a major source influencing the navigation accuracy in inertial navigation systems (INS), especially for high-precision INS.
Xiao Zhou +3 more
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Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems
Sensors, 2016 The gravity disturbance vector is one of the major error sources in high-precision and long-term inertial navigation applications. Specific to the inertial navigation systems (INSs) with high-order horizontal damping networks, analyses of the error ...
Ruonan Wu +5 more
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Chinese Journal of Aeronautics, 2022 Abstract With the improvement of the accuracy of the inertial system, the influence of the disturbing gravity field on the accuracy of long-range rocket has become increasingly prominent. However, in actual engineering, there are problems of low accuracy and being time-consuming for disturbing gravity field compensation.
Yansheng WU, Zongqiang WANG, Bing ZHANG
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Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops [PDF]
, 2016 Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations.
Boaventura, Thiago +6 more
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High precision motion control of parallel robots with imperfections and manufacturing tolerances [PDF]
, 2011 This work attempts to achieve precise motion control using parallel robots with manufacturing tolerances and inaccuracies by migrating the measurements from their joint space to task space in order to decrease control system’s sensitivity to any ...
Golubovic, Edin +3 more
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Adaptive Controller Based on Spatial Disturbance Observer in a Microgravity Environment
Sensors, 2019 In this paper, a new controller for an operating manipulator work in the space microgravity environment is proposed. First, on the basis of the load variation caused by microgravity, a sliding mode control method is used to model the gravity term, and ...
Chunguang Fan +4 more
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Rigorous geoid-from-quasigeoid correction using gravity disturbances
Journal of Geodetic Science, 2015 We present rigorous solutions for the geoid-fromquasigeoid correction (GQC) using Taylor expansions of surface gravity disturbances along the vertical from the Earth’s surface to the geoid.
Sjöberg Lars
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Control and measurement delay compensation in bilateral position control [PDF]
, 2011 The main aim of this study is the improvement of the previously presented disturbance observer based bilateral control approaches of the authors with a delay regulator and a model tracking control (MTC) that runs on the slave side.
Bogosyan, Seta +5 more
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Distributed Bio-inspired Humanoid Posture Control
, 2019 This paper presents an innovative distributed bio-inspired posture control strategy for a humanoid, employing a balance control system DEC (Disturbance Estimation and Compensation).
Lippi, Vittorio +2 more
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