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This paper proposes a novel dynamic control approach for a cable driven robot with high redundant actuation and cable tension limitations to perform tracking task while interacting with environment. In order for a cable-driven exoskeleton robot to execute the task smoothly and safely, it is necessary to consider the tracking motion performance as well as passivity when interacting with the environment...
It is well known that electrical contact resistance influencing factors include not only the contact material physical characteristics, contact type (sphere-flat, flat-flat), the contact surface status (clean, contaminated), but also contact current and mechanical load during measuring. Electrical contact material industry has considerable trouble with batch consistency check of rivet contacts. An...
This research proposes a novel robust passive control approach for a robot manipulator with model uncertainties to interact with its dynamic environment by considering the robot's mechanic energy. Here, we analyze the robot's robust passivity as seen from its environment. By adjusting a scaling parameter of the robot's desired velocity with respect to the robot's mechanic energy, we propose our robust...
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