Results 11 to 20 of about 388,447 (291)
Fractional Order Impedance Control [PDF]
IEEE Access, 2020 This paper proposes a novel fractional order impedance control. In traditional impedance control model, the orders of inertia, damping, and stiffness are integers and the contact force can be reduced effectively to some extent in robots and manipulators.
Guangrong Chen +3 more
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Adaptive End-Effector Buffeting Sliding Mode Control for Heavy-Duty Robots with Long Arms
Mathematics, 2023 This study aims to resolve the problems of low precision, poor flexibility and unstable operation in the control performance of loading robots with long telescopic booms and heavy loads.
Wenqiang Wu +8 more
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Application of the Half-Order Derivative to Impedance Control of the 3-PUU Parallel Robot
Actuators, 2022 This paper presents an extension of impedance control of robots based on fractional calculus. In classical impedance control, the end-effector reactions are proportional to the end-effector position errors through the stiffness matrix K, while damping is
Luca Bruzzone +2 more
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Sensors, 2021 Robot-assisted minimally invasive surgery (MIS) has received increasing attention, both in the academic field and clinical operation. Master/slave control is the most widely adopted manipulation mode for surgical robots.
Hu Shi +3 more
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Frontiers in Robotics and AI, 2022 Lower limb exoskeletons are widely used for rehabilitation training of patients suffering from neurological disorders. To improve the human–robot interaction performance, series elastic actuators (SEAs) with low output impedance have been developed ...
Lufan Mo +8 more
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Journal of Advanced Mechanical Design, Systems, and Manufacturing, 2021 This study mainly aims to ensure the safety of elderly people with a walking assistive device during ground-stair transition. A system that could automatically transfer the walking mode of the assistive device after detecting the ground or stairs is ...
Bo-Rong YANG +5 more
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Impedance scaling and impedance control [PDF]
Proceedings of the 1997 Particle Accelerator Conference (Cat. No.97CH36167), 2002 When a machine becomes really large, such as the Very Large Hadron Collider (VLHC), of which the circumference could reach the order of megameters, beam instability could be an essential bottleneck. This paper studies the scaling of the instability threshold vs. machine size when the coupling impedance scales in a "normal" way.
Chou, W., Griffin, J.
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Automatic Fruit Harvesting Device Based on Visual Feedback Control
Agriculture, 2022 With aging populations, and people′s demand for high-quality or high-unit-price fruits and vegetables, the corresponding development of automatic fruit harvesting has attracted significant attention.
Bor-Jiunn Wen, Che-Chih Yeh
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Actuators, 2023 The series elastic actuator (SEA) is generally used as the torque source of the exoskeleton robot for human–robot interaction (HRI). In this paper, an impedance control method for lower limb exoskeleton robots driven by SEA is presented.
Yaohui Sun, Jiangping Hu, Rui Huang
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Suppress Vibration on Robotic Polishing with Impedance Matching
Actuators, 2021 Installing force-controlled end-effectors on the end of industrial robots has become the mainstream method for robot force control. Additionally, during the polishing process, contact force stability has an important impact on polishing quality. However,
Junjie Dai +5 more
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