Temat: position-force control - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Modified position-force control for a manipulator geometrically constrained by round obstacles
Autorzy:: Mazur, Alicja
Kaczmarek, Mirela
Ratajczak, Joanna
Domski, Wojciech
Powiązania:: https://bibliotekanauki.pl/articles/950745.pdf
Data publikacji:: 2019
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: manipulator
position-force control
principle of orthogonalisation
hybrid control
Opis:: This paper addresses the problem of position-force control for robot manipulators under geometric endpoint constraints defined as round obstacles. Considerations are based on hybrid position-force control and use modified Arimoto algorithm with the principle of ”orthogonalisation”. To achieve so-called joint space orthogonalisation, where motion signals are orthogonal to force vectors and the direction selection is performed in the joint space, projection matrix is utilized. The convergence of tracting and force errors is proved.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2019, 13, 2; 60-67
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Development of grinding and polishing technology for stainless steel with a robot manipulator
Autorzy:: Shaw, Jinsiang
Fang, Yu-Jia
Powiązania:: https://bibliotekanauki.pl/articles/2141789.pdf
Data publikacji:: 2021
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: active compliant
hybrid position/force control
robot manipulator
surface machining
surface roughness
Opis:: In traditional industries, manual grinding and polishing technologies are still used predominantly. However, these procedures have the following limitations: excessive processing time, labor consumption, and product quality not guaranteed. To address the aforementioned limitations, this study utilizes the good adaptability of a robotic arm to develop a tool-holding grinding and polishing system with force control mechanisms. Specifically, off-the-shelf handheld grinder is selected and attached to the robotic arm by considering the size, weight, and processing cost of the stainless steel parts. In addition, for contact machining, the robotic arm is equipped with a force/torque sensor to ensure that the system is active compliant. According to the experimental results, the developed system can reduce the surface roughness of 304 stainless steel to 0.47 µm for flat surface and 0.76 µm for circular surface. Moreover, the processing trajectory is programmed in the CAD/CAM software simulation environment, which can lead to good results in collision detection and arm posture establishment.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2021, 15, 4; 37-43
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Dynamic external force feedback loop control of a robot manipulator using a neural compensator - Application to the trajectory following in an unknown environment
Autorzy:: Ferguene, F.
Toumi, R.
Powiązania:: https://bibliotekanauki.pl/articles/907867.pdf
Data publikacji:: 2009
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: sterowanie położeniem
sterowanie siłowe
struktura zewnętrzna
sterowanie neuronowe
manipulator robota
force/position control
external structure
neural control
robot manipulator
Opis:: Force/position control strategies provide an effective framework to deal with tasks involving interaction with the environment. One of these strategies proposed in the literature is external force feedback loop control. It fully employs the available sensor measurements by operating the control action in a full dimensional space without using selection matrices. The performance of this control strategy is affected by uncertainties in both the robot dynamic model and environment stiffness. The purpose of this paper is to improve controller robustness by applying a neural network technique in order to compensate the effect of uncertainties in the robot model. We show that this control strategy is robust with respect to payload uncertainties, position and environment stiffness, and dry and viscous friction. Simulation results for a three degrees-of-freedom manipulator and various types of environments and trajectories show the effectiveness of the suggested approach compared with classical external force feedback loop structures.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2009, 19, 1; 113-126
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Performance analysis between a hybrid force/position and conventional controllers for a wrist exoskeleton
Autorzy:: Avilés, Valeria
Avilés, Oscar F.
Aponte, Jorge
Caldas, Oscar I.
Mauledoux, Mauricio F.
Powiązania:: https://bibliotekanauki.pl/articles/2134891.pdf
Data publikacji:: 2022
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: exoskeleton
hybrid control
force
performance
position
Opis:: This study analyses the performances of various path controlling strategies for a 3-degrees of freedom wrist exoskeleton, by comparing key indicators, such as rise time, steady-state error, and implementation difficulty. A model was built to describe both system’s kinematics and dynamics, as well as 3 different controllers (PID, PD+, and a hybrid force/position controller) that were designed to allow each joint to perform smooth motions within anatomic ranges. The corresponding simulation was run and assessed via Matlab (version 2020a). In addition to the performance comparison, remarkable characteristics could be identified among controllers. PD+ showed higher response speed than the other controllers (about 4 times), and PID was reinforced as the technique with the easiest implementation due to the smallest matrices. The study also allowed to greater potential of the hybrid controller to interact with its environment, i.e., the robotic device.
Źródło:: Archives of Control Sciences; 2022, 32, 2; 409--427
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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