Results 271 to 280 of about 147,312 (307)
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Spatial impedance control of redundant manipulators
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 2003This work is focused on impedance control of redundant manipulators. A spatial impedance formulation is presented where general 6-DOF end-effector tasks can be handled. A singularity-free angle/axis representation of end-effector orientation is used which allows geometric task consistency to be preserved.
C. NATALE +2 more
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Learning impedance control for robotic manipulators
IEEE Transactions on Robotics and Automation, 1998Most researches on learning control of constrained robots have been focused on the problem of hybrid position/force control where the learning controllers are designed to track the desired motion and force trajectories. The learning impedance control of robotic manipulators, however, has not been developed so far.
Chien-Chern Cheah, Danwei Wang
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Impedance Control of a Spherical Parallel Platform
International Journal of Intelligent Mechatronics and Robotics, 2011This article describes the impedance control of an in-parallel actuated orientation platform. The algorithm is based on a representation of platform orientation which exploits the equivalent axis of rotation: this approach is more intuitive and easier to visualize than conventional methods based on Cardan or Euler angles.
Luca Carbonari +2 more
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Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104), 2002
Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, there is a need for control algorithms with position tracking performance and force control ability. Up to date many algorithms have been proposed which deal with robot motion and force control.
A. Hace, K. Jezernik, S. Uran
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Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, there is a need for control algorithms with position tracking performance and force control ability. Up to date many algorithms have been proposed which deal with robot motion and force control.
A. Hace, K. Jezernik, S. Uran
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A Controlled Impedance Robot Gripper
AT&T Technical Journal, 1985The design of robot grippers has traditionally involved pneumatics or gear reduction electric drives that do not allow for the control of the stiffness of the mechanism. The manipulation of fragile objects such as eggs or light bulbs requires the gripper to be able to close on the object with minimal impact forces, and yet maintain a static grip force ...
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1993 IEEE International Solid-State Circuits Conference Digest of Technical Papers, 1993
The authors describe circuits and techniques that provide automatic on-chip impedance matching between a series-terminated, low-voltage swing, CMOS I/O pad, and an external interconnect. The automatic impedance control technique employs a digitally controlled output impedance driver, a high-gain, low-voltage differential receiver, and an IEEE-1149.1 ...
A. DeHon, T. Knight, T. Simon
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The authors describe circuits and techniques that provide automatic on-chip impedance matching between a series-terminated, low-voltage swing, CMOS I/O pad, and an external interconnect. The automatic impedance control technique employs a digitally controlled output impedance driver, a high-gain, low-voltage differential receiver, and an IEEE-1149.1 ...
A. DeHon, T. Knight, T. Simon
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Robust Implementations Of Impedance Control Using Impedance Error Feedback
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005Robust implementations of impedance control against modelling errors and disturbances are proposed. Deviation between desired impedance and actual impedance in Cartesian space is defined and modelled as impedance error. Two type robust controllers are designed based on either a high gain feedback eliminating the impedance error or a compensator of the ...
Takashi Harada +3 more
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Manipulator impedance accuracy in position-based impedance control implementations
Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 2002Compares two position-based impedance controllers obtaining desired end-effector impedances during robot interaction with the environment. It is shown that while these two controllers have similar structures, the Adept Controller yields more accurate impedances in the DC region because of the stiffness control properties of the force loop. In addition,
Craig R. Carignan, Jennifer A. Smith
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2010
This chapter is devoted to adaptive impedance matching techniques that have been investigated as a means to improve the link quality of mobile phones under fluctuating operating conditions. Adaptive techniques are attractive because they provide resilience to changes in body-effects and phone form factor.
van Bezooijen, André +2 more
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This chapter is devoted to adaptive impedance matching techniques that have been investigated as a means to improve the link quality of mobile phones under fluctuating operating conditions. Adaptive techniques are attractive because they provide resilience to changes in body-effects and phone form factor.
van Bezooijen, André +2 more
openaire +2 more sources