Results 141 to 150 of about 5,073,723 (195)
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On the use of positive feedback for improved torque control
Control Theory and Technology, 2015This paper considers the torque control problem for robots with flexible joints driven by electrical actuators. It is shown that the achievable closed-loop tracking bandwidth using PI torque controllers may be limited due to transmission zeros introduced by the load dynamics.
Jonas Buchli +2 more
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Air torque position damper hysteresis
Flow Measurement and Instrumentation, 2020Abstract The purpose of this paper is to determine the effect of the air torque position (ATP) damper hysteresis on the accuracy of air velocity measurements and the adequacy of the ATP damper mathematical model tested in the present study. A total of three dampers with non-cascading blades were examined: a damper with a single flat blade, a damper ...
Siniša Bikić +4 more
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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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POSITION/TORQUE CONTROL OF A SPACE ROBOTICS ARM
IFAC Proceedings Volumes, 2006Abstract Torque sensors are used in space robot joints to increase robot capabilities and operational flexibility. Cascaded to a load position loop, a torque loop increases the performance of a position servo facing large variations of load inertia, typical of space robot arms.
D. Camorali +3 more
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Effect of hip position on gravity effect torque
Medicine & Science in Sports & Exercise, 1994Hip position has been hypothesized to influence gravity effect torque (GET) at the knee during isokinetic testing; however, no data exist to support or refute this hypothesis. Therefore, the purposes of this study were 1) to determine if a significant difference exists between GET in seated and supine positions, 2) to determine the effect of the supine
W J, Ford +3 more
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TCP position tolerances in joint torque minimizations
Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190), 2002A new algorithm for link and path optimizations of manipulator arms is formulated. The algorithm considers precision in tool center point (TCP) positioning. A penalizing function is introduced to allow divergence from the desired TCP locations. The ever increasing operational demands of robots presuppose high power drives which tends to adversely ...
Sten Grahn +4 more
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The contribution of gravitational torques to limb position sense
Experimental Brain Research, 1985An experiment is reported which examined whether gravitational torque acting about a joint is used by the CNS in elbow joint angle matching. Subjects were required to match the joint angles of their two limbs while the external torques acting about each elbow were systematically varied. It was found that when the matching limb was differentially loaded,
C J, Worringham, G E, Stelmach
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Influence of Position on Knee Flexor Peak Torque
Journal of Orthopaedic & Sports Physical Therapy, 1988The purpose of this study was to determine the influence of position on knee flexor peak torque production. Gravity effect torque and knee flexor peak torque were measured in both supine and prone positions for 20 male and female volunteers between the ages of 22 and 35 years with no history of left lower extremity pathology.
A E, Barr, P W, Duncan
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