Results 251 to 260 of about 6,691,435 (302)
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Torque-position transformer for task control of position controlled robots
2008 IEEE International Conference on Robotics and Automation, 2008Joint position control is a dominant paradigm in industrial robots. While it has been successful in various industrial tasks, joint position control is severely limited in performing advanced robotic tasks, especially in unstructured dynamic environments.
Oussama Khatib +3 more
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Approximate positive controllability of positive boundary control systems
Positivity, 2013zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Boulite, S. +3 more
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Positive controllability of positive dynamical systems
Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301), 2002The paper is devoted to a study of constrained controllability and controllability for linear dynamical systems if the controls are taken to be nonnegative. In analogy to the usual definition of controllability it is possible to introduce the concept of positive controllability. We concentrate on approximate positive controllability for linear infinite-
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A BRUSHLESS SYSTEM FOR POSITION CONTROL
IFAC Proceedings Volumes, 1983Abstract The problems related to the use of a Brushless motor in a position control are analysed. The motor is a P.M. Synchronous motor, for which a magnetically isotropic or anisotropic structure may occur, according to the magnets arrangement in the rotor.The attention is firstly devoted to the drive system prerogatives, which must be suitable for ...
VAGATI, Alfredo, VILLATA F.
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Learning force control with position controlled robots
Proceedings of IEEE International Conference on Robotics and Automation, 2002The paper applies a previously presented method for accurate tracking of paths to force control. This approach is very simple since it does not require a joint torque/motor current interface but only a positional interface. It can be applied with elastic end-effectors (sensors) as well as with stiff environments where most elasticity is in the robot ...
Lange, F., Hirzinger, G.
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Scalable Control of Positive Systems
Annual Review of Control, Robotics, and Autonomous Systems, 2021In this article, we first present some foundational results about the stability and positive stabilization of continuous-time positive systems. Necessary and sufficient conditions for achieving stability are provided, together with some desired performance in terms of disturbance attenuation.
Anders Rantzer, Maria Elena Valcher
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Robots positioning control revisited
Journal of Intelligent and Robotic Systems, 1990Positioning control systems for robot arms are presented within a general framework in view of unification and classification. Treating coupling torques from other links as an external disturbance reduces the design of the control system to that of SISO servomechanisms driving each of the robot axes individually.
Raymond Gorez, Jules O'Shea
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On the friction-position control relationship
Proceedings of the Institution of Mechanical Engineers, Part J: Journal of Engineering Tribology, 1997A theoretical analysis of the dynamic behaviour of mechanical systems characterized by coupled elements subjected to friction force from the sliding surface is proposed. With reference to systems with one degree of freedom and approximating the friction force as a piecewise linear function, i.e.
G. Capone +3 more
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Microcomputer position control system
Microprocessors and Microsystems, 1979Abstract Minimization of the travelling period when a digital motor is used as a positioning actuator is discussed. Two aspects are involved: the exploitation of motor acceleration capability by using a microcomputer as a programmable controller and the development of support subroutines to deal with the interaction between the required position and ...
Adnan Al-Anbuky, G. A. Swadi
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