Results 11 to 20 of about 39,069 (308)

Cascaded Control of Flexible-Joint Robots Based on Sliding-Mode Estimator Approach

Journal of Robotics, 2020
The inherent highly nonlinear coupling and system uncertainties make the controller design for a flexible-joint robot extremely difficult. The goal of the control of any robotic system is to achieve high bandwidth, high accuracy of trajectory tracking ...
Genliang Xiong, Jingxin Shi, Haichu Chen
doaj   +2 more sources

Sliding Guide System Concept for 3D Motion of the Hip Joint in Walking Assist Robots [PDF]

Advanced Intelligent Systems
The human hip joint has three degrees of freedom: flexion and extension, abduction and adduction, and external rotation and internal rotation. However, most current walking assist robots only support flexion–extension of the hip joint and may restrict ...
Naoto Saito, Michihiko Koseki, Minoru Hashimoto   +2 more
doaj   +2 more sources

FATIGUE LIFE ANALYSIS OF THE TRIPOD SLIDING UNIVERSAL JOINT

Jixie qiangdu, 2018
Static analysis and fatigue analysis of the tripod sliding universal joint was conducted by Solidworks and ANSYS Workbench software. The equivalent stress distribution contour plots and fatigue life nephogram of the tripod joint was obtained, though ...
YANG FuQin, JIANG DianBing
doaj   +2 more sources

Predicting wear of UHMWPE: decreasing wear rate following a change in direction [PDF]

, 2011
Computational tools are emerging as design tools for the development of total joint replacement with improved wear performance. The current wear models of polyethylene assume that wear is linearly proportional to sliding distance; however, it is ...
Render, Todd D., Michael A. Strickland, Mark Taylor, Ernsberger, Craig N., Craig N. Ernsberger, Taylor, Mark, Dressler, Matthew R., Strickland, Michael A., Todd D. Render, Matthew R. Dressler   +9 more
core   +1 more source

Development of a sliding mode controller with chattering suppressor for human lower extremity exoskeleton robot

Results in Control and Optimization, 2022
Exoskeleton robot-based human upper and lower extremity rehabilitation is an appealing solution for many disabled individuals. To deliver the desired form of physical therapy efficiently, robots with streamlined maneuverability are needed.
S.K. Hasan, Anoop K. Dhingra
doaj   +1 more source

Discrete-time output feedback sliding-mode control design for uncertain systems using linear matrix inequalities [PDF]

, 2011
An output feedback-based sliding-mode control design methodology for discrete-time systems is considered in this article. In previous work, it has been shown that by identifying a minimal set of current and past outputs, an augmented system can be ...
Floquet, Thierry, Sarah K. Spurgeon, Spurgeon, Sarah,, Thierry Floquet, Spurgeon, Sarah K., Govindaswamy, Srinath, Spurgeon, Sarah, K., Srinath Govindaswamy   +7 more
core   +1 more source

Trapped modes in CESR sliding joints [PDF]

Proceedings of the 1997 Particle Accelerator Conference (Cat. No.97CH36167), 2002
Trapped modes in the sliding joints in CESR were investigated as a possible source of instabilities. To detect these modes, experiments were performed where pairs of bunches of positrons were run through at various spacings. It was hoped that constructive and destructive interference of wake fields would produce varying amounts of heating.
E.B. Anderson, J. Rogers
openaire   +1 more source

Hybrid fuzzy and sliding-mode control for motorised tether spin-up when coupled with axial vibration [PDF]

, 2009
A hybrid fuzzy sliding mode controller is applied to the control of motorised tether spin-up coupled with an axial oscillation phenomenon. A six degree of freedom dynamic model of a motorised momentum exchange tether is used as a basis for interplanetary
Chen, Y., Cartmell, M.P., Cartmell, M.
core   +1 more source

Analysis of a dry friction problem under small displacements: application to a bolted joint [PDF]

, 2003
This study presents an analysis of the problem of macroscopic contact of steel upon steel with dry friction, in the specific case of a bolted joint. The configurations of these types of joints result in very small displacements and interface sliding ...
Barrau, Jean-Jacques, Yettou, El Mahdi, E Yettou, Ferrero, Jean-François, Rivallant, Samuel, J.F Ferrero, Yettou, E, J.J Barrau, S Rivallant   +8 more
core   +1 more source

Joint torque control of flexible joint robots based on sliding mode technique

International Journal of Advanced Robotic Systems, 2019
For robots with flexible joints, the joint torque dynamics makes it difficult to control. An effective solution is to carry out a joint torque controller with fast enough dynamic response.
Gen-Liang Xiong, Hai-Chu Chen, Jing-Xin Shi, Fa-Yun Liang   +3 more
doaj   +1 more source