Results 31 to 40 of about 147,312 (307)

An impedance approach to reduce the contact-instability whilst drilling with active heave compensation [PDF]

, 2012
The bit-bounce, or contact-instability, phenomenon which occurs in the drill string suspended from a floating vessel with an active drill string compensator to maintain a steady weight on the drill bit is investigated.
Hatleskog, Jan, Dunnigan, Mathew Walter
core   +1 more source

Force/Torque Sensorless Compliant Control Strategy for Assembly Tasks Using a 6-DOF Collaborative Robot

IEEE Access, 2019
The flexibility of the robot assembly process is critical, and a robot assembly system that is not flexible may damage the workpieces. Most researchers make the assembly process flexible by installing a six-dimensional force/torque sensor at the end of ...
Fan Zeng, Juliang Xiao, Haitao Liu
doaj   +1 more source

On the Passivity Based Impedance Control of Flexible Joint Robots

, 2008
In this paper, a novel type of impedance controllers for flexible joint robots is proposed. As a target impedance, a desired stiffness and damping are considered without inertia shaping.
Hirzinger, Gerd, Albu-Schäffer, Alin Olimpiu, Albu-Schäffer, Alin, Ott, Christian, Kugi, Andreas, Kugi, A.   +5 more
core   +1 more source

Exploring the Just Noticeable Interaction Stiffness Differences of an Impedance-Controlled Series Elastic Actuator

Actuators, 2023
The integration of a passive elastic element in series between a motor and its load is popular in many human–robot interaction scenarios. By virtually imposing elastic behavior on the motor, an impedance control can act as a second stiffness to such an ...
Rodrigo J. Velasco-Guillen, Felix Schofer, Adna Bliek, Philipp Beckerle   +3 more
doaj   +1 more source

Experimental Study on Impedance Control for the Five-Finger Dexterous Robot Hand DLR-HIT II

, 2010
This paper presents experimental results on the five-finger dexterous robot hand DLR-HIT II, with Cartesian impedance control based on joint torque and nonlinearity compensation for elastic dexterous robot joints.
Wimböck, Thomas, Lii, Neal Y., Jin, Minghee, Chen, Zhaopeng, Fan, Shaowei, Borst, Christoph, Liu, Hong   +6 more
core   +1 more source

Cartesian Impedance Control on Five-Finger Dexterous Robot Hand DLR-HIT II with Flexible Joint

, 2010
This paper presents an impedance controller for five-finger dexterous robot hand DLR-HIT II, which is derived in Cartesian space. By considering flexibility in finger joints and strong mechanical couplings in differential gear-box, modeling and control ...
Hong Liu, Zhaopeng Chen, Minghe Jin, Lii, Neal Y., Shaowei Fan, Chen, Zhaopeng, Jin, Minghe, Fan, Shaowei, Liu, Hong, Neal Y. Lii   +9 more
core   +1 more source

Compliant Contact Force Control for Aerial Manipulator of Adaptive Neural Network-Based Robust Control

Sensors
Aerial manipulators expand the application scenarios of manipulators into the air. To complete various operations, the contact force between the aerial manipulator and the target must be precisely controlled.
Qian Fang, Pengjun Mao
doaj   +1 more source

Analysis for motion characteristics of human operator and motor area of higher brain function during human-robot cooperative work

Nihon Kikai Gakkai ronbunshu, 2016
The aim of this research is to investigate the operator's motor skill obtained by the skill training during the human-robot cooperative task. There are many studies to investigate the perception of the motion of the robot and the electromyography ...
Toru TSUMUGIWA, Ryo IKUTA, Ryuichi YOKOGAWA   +2 more
doaj   +1 more source

Flexible FPGA-Based Controller Architecture for Five-fingered Dexterous Robot Hand with Effective Impedance Control

, 2009
Several practical issues associated with achieving effective impedance performance in the finger joint space and stable grasping on a five-fingered dexterous hand are investigated in this work.
Z. X. Xue, Xue, Zhixing, Lii, Neal Y., H. Liu, Jin, Minghe, Fan, Shaowei, Liu, Hong, K. Wu, N. Y. Lii, Y. W. Liu, Liu, Yiwei, Z. P. Chen, M. H. Jin, S. W. Fan, Wu, Ke, Chen, Zhaopeng, T. Lan, Lan, Tian   +17 more
core   +1 more source

Space Robot On-Orbit Operation of Insertion and Extraction Impedance Control Based on Adaptive Neural Network

Aerospace, 2023
The on-orbit operation of insertion and extraction of space robots is a technology essential to the assembly and maintenance in orbit, satellite fuel filling, failed satellite recovery, especially modular in-orbit assembly of micro-spacecraft. Therefore,
Dongbo Liu, Li Chen
doaj   +1 more source