The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents an external hybrid force/pose controller for a robotic manipulator using a cascade scheme with two control loops. In the outer loop there is a force controller that acts as a perturbation for the position reference, whose purpose is to regulate the force applied by the end-effector during the interaction; the inner loop, which is used to control the end-effector pose (i.e., position...
Dexterous object manipulation requires suitable control of grip force, load force and digit positions. To keep an object stable in the air, force magnitude, force direction and digit positions should be coordinated, producing compensatory torque that could balance the external torque and maintain a minimal object roll. Six males and 6 females enrolled in the study. In the experiment, subjects were...
Precise force control and position control is essential for many robotic applications. During unilateral or bilateral object handling remote applications, human operators apply excess forces on the actuators with the intention of better grip and it is possible to damage the handled objects. This paper proposes position control and force control techniques when human applies excess force. The controllers...
In-circuit tests play a key role in manufacturing electronic devices with a high level of reliability. One of the most flexible technology for the tests is based on flying probes, in which a set of conductive needles is automatically positioned on multiple test points of the device under test. The probes are controlled at high speed within the working space, to increase the production rate, Position...
This study presents a test setup for independently varying displacements and forces of piezoelectric stack actuators (PESAs). Linear constitutive equations are employed to define the feasible operating region of the setup. In addition, a controller for tracking desired displacement and force patterns is introduced. Performance of this setup is experimentally validated by showing the linear relationship...
In contrast to precise position control of the robot arms and manipulators, the force control has been studied recently. The robust position control does not allow the robots to share the same space with humans because the robots faithfully follow the position command, and it may lead to break the contacted environments. The impedance and compliance control could set impedances of robots so that the...
This paper presents three contributions in the filed of medical imaging applications using hand-held ultrasound probe: 1) a new type of belt-driven mechanism for force-controlled ultrasound probe (FCUS) and 2) a safe and precise position controller and 3) a new algorithm for endpoint avoidance in the limited motion range. To enhance the image quality, the probe-patient contact force is controlled...
According to China's space station operation and maintenance requirements, this paper first discusses the dual arm robot astronaut mission requirements and design principles. Then the robot's configuration, anthropomorphic robot arm and its driving joint, five fingered dexterous hand, head, neck and other mechanisms are designed in detail. A distributed control scheme for the robot is proposed. The...
This paper presents the closed loop teleoperation of a minimal surgery training system using haptic and robot devices. The force tracking performances of system can be improved by using dynamic compensation and fuzzy control. In this system, the master is the 6-DOF haptic device and the slave is the 6-DOF serial robot. The master haptic device provides the trajectories for the slave serial robot throught...
Collective object manipulation is one of the frequently observed behaviors in natural swarm systems which inspired many researchers to study and implement such methods via robotic systems. Adding obstacle avoidance capability to the agents involved in the manipulation task creates a ground for parallel object manipulation and collective construction in cluttered environments. In this paper, the obstacle...
The polishing of product parts is a difficult problem in the field of industrial robots. In order to adapt the industrial robots to the needs of polishing, it is necessary to effectively control the contact stress generated during the actual grinding process. Based on the principle and method of force control, this paper puts forward the constant force end actuator and its control method for industrial...
A series elastic actuator (SEA) consists of an actuator in series with a compliant element. By measuring and controlling the displacement of the compliant element, an SEA provides better forward and inverse force control accuracy than traditional stiff actuators. SEAs are suitable for robots that need interact properly with human or environment. Most SEAs use brushless DC motors as the actuators....
This paper deals with force control and co-manipulation. From a classical control scheme using three closed loops with an external force control, we derive two new control schemes: the first is implemented in order to control the effort applied in a rigid environment and the second focuses on a co-manipulation control in an unknown environment. The proposed control law takes into account the stiffness...
The problem of dexterous robotic manipulation of rigid objects by means of a cooperative robotic system is addressed in this paper. It is assumed that the robots can only push the object (unilateral constraints). In order to solve the aforementioned control problem, a centralized control algorithm with bounded torque inputs based on the Orthogonalization Principle and second order sliding mode control...
This paper investigates a contact force control problem of a one-link flexible beam with boundary input disturbances. The sliding mode control (SMC) method is adopted to design a boundary feedback controller, which only includes the signals at the drive end, such that the interference suppression can be realized and the tip end of the beam can be enabled to exert the desired force on the contacted...
An end-effector is designed and prototyped as the mini manipulator in a macro-mini system. It has properties of fast response and high resolution in position control and force control. In this paper, a directional force control algorithm of the end-effector is introduced targeting on the application of polishing and deburring. The dynamic model of the end-effector is estimated by the approach of frequency...
In this paper, a wire-driven tension control algorithm using a rotary type series elastic actuator is proposed, which is developed for assistive force control of the rehabilitation robots to help the Straight Leg Raise (SLR) exercise.
This contribution presents a hybrid position / force control strategy which is used to operate a hydraulic hexapod in contact with a complex environment. The hexapod serves as an excitation unit in a Hardware-in-the-Loop axle test rig. It is used to reproduce measured or simulated road excitations on the wheel carrier of a MacPherson suspension strut which is rigidly connected to it via a wheel force...
This paper proposes a force control system using the State Observer Based Disturbance Observer (SO-DOB) and the State Observer Based Reaction Force Observer (SO-RFOB) based on the novel observer gain tuning methodology. The observer gain tuning methodology is based on the stable margin theory. By using the proposed gain tuning methodology, the system stability and the robustness of the SO-DOB and...
Among aging populations, tremors are becoming an ever greater barrier to autonomy. The purpose of this study is to design a tremor suppressing robotic system for the human arm. This system is designed to be linked to the back of the user's hand using a magnetic link, preventing the user from being hurt should the system be subject to malfunction. The presented control law consists of a velocity-force...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.