Kinematic and dynamic analysis of robot arm is discussed from the control point of view. For the static control problem, such as the steady-state force/torque control, the kinematic property is analyzed using the cond...
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A scheme is presented for the accurate trajectory control of robot manipulators in the presence of model uncertainty and disturbances. Based on the suction control methodology (an extension of sliding mode control), t...
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This paper deals with the development of a sensor controlled robot hand for grasping objects of generic shape. The integration of control software and mechanical design may improve prehension quality performances. ...
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This presentation combines historical lineage, assessment of the state of the art, and representative videotapes on robot force control. The difference between continuous and logic branching strategies is described. T...
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A simple and effective solution to the robot grinding problem is introduced, which significantly reduces vibrations during grinding without additional actuators or active control. The objective is to determine the opt...
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This paper presents a Lisp-based robot vision system designed for research. It combines a Puma 560 robot arm, the computing power of a VAX 11/780 and a Grinnell Systems 275, the facility for artificial intelligence th...
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This paper describes 3D vision techniques for an advanced robot system in terms of efficient hardware and practical software. Arm-controlled stereo cameras have been developed for efficient 3D sensing, whose interocul...
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This paper describes a control scheme designed to make a manipulator move as fast as possible within its velocity and acceleration constraints. The control system adapts itself to any given path but is still conceptua...
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We would like robots to recognize and handle situations that do not conform with normal operating conditions. We want to be able to do this without having to consider explicitly errors caused by missing or defective p...
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The development of fast recursive methods for computing manipulator inverse dynamics has made possible open loop control strategies. However, for these strategies to work, an accurate plant model is required. Two key ...
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