There have been many bilateral micro-teleoperation systems handling a small object. Historically, Lawrence[1] proposed the Transparency-Optimized Architecture and passivity theorem for stability analysis of bilateral ...
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There have been many bilateral micro-teleoperation systems handling a small object. Historically, Lawrence[1] proposed the Transparency-Optimized Architecture and passivity theorem for stability analysis of bilateral teleoperation. He claimed that unless the task(or environment) impedance contains a significant inertial behavior, passivity condition for Transparency-optimized architecture can not be satisfied. To overcome this problem, we analyze and propose a method which can satisfy passivity condition for the micro-teleoperation system handling a small inertial object based on the structures originated by Lawrence and Hashtrudi-Zaad et al.[2] and velocity-force scaling property of micro-teleoperation.
In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems and mechanisms with inserts is presented. Previous work demonstrated the use of the Rapid Prototype Stereolithography and...
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ISBN:
(纸本)0791836215
In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems and mechanisms with inserts is presented. Previous work demonstrated the use of the Rapid Prototype Stereolithography and Selective Laser Sintering techniques to fabricate prototypes of mechanical mobile joints. As examples of their applicability, the joint designs were then used to fabricate complex multi-articulated, multi-link, multi-loop systems in one step, without requiring assembly while maintaining the joint desired mobility. Expanding upon this, current research explores methods of insertion of component parts during the rapid prototype process. A rapidly prototyped mobile vehicle, RP MOVe, was fabricated to show this method and is presented here.
Enveloping grasp system not in static equilibrium results in dynamical motion. In this article, we develop a method based on dynamical-balance to solve motion analysis problem for an active-external grasp, that is to ...
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Enveloping grasp system not in static equilibrium results in dynamical motion. In this article, we develop a method based on dynamical-balance to solve motion analysis problem for an active-external grasp, that is to determine contact forces and accelerations consistent with the dynamics and friction law for a given torque-wrench pair. Since the method is analytic in nature, it may give chance of better efficiency and more direct insight than a relevant linear complementarity formulation, though the solutions are same. The method is verified using two examples: one is a simple grasp system with one frictional contact, and the other is a relatively general one with all frictionless contacts.
This paper presents (i) to propose a PID-type composite controller for controlling flexible arms modeled by the singular perturbation approach and (ii) to investigate a tuning method based on the proposed controller s...
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This paper presents (i) to propose a PID-type composite controller for controlling flexible arms modeled by the singular perturbation approach and (ii) to investigate a tuning method based on the proposed controller structure. For the slow sub-controller, PD plus disturbance observer is used, which eventually takes on PID form, and for the fast sub-controller, modal feedback PID control is utilized. Effects of design parameters of the controller on the closed loop response are investigated. Through simulation and experiments, the adequacy and performance of the proposed method are verified.
This paper describes the design and implementation of a nonlinear adaptive disturbance rejection approach for single-input-single-output (SISO) linear-time-invariant (LTI) uncertain systems subject to sinusoidal distu...
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In this paper the workspace optimization of an orientational 3-legged parallel platform with universal (U), prismatic (P) and spherical (S) joints at each leg is performed. The workspace is parameterized using four de...
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In this paper the workspace optimization of an orientational 3-legged parallel platform with universal (U), prismatic (P) and spherical (S) joints at each leg is performed. The workspace is parameterized using four de...
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The efficient solution of a class of controller approximation problems by using frequency-weighted balancing related model reduction approaches is considered. It is shown that for certain standard performance and stab...
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In the paper an application of fuzzy neural networks (FNN) for sensor fault diagnosis in condensation turbine control unit was given. The FNN are applied for fault detection and isolation processes. This approach give...
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The paper discusses new developments of the data fusion paradigm due to Cortesao and Koeppe (1999, 2000). A bank of Kalman filters is analyzed in the fusion process. Experiments for a robotic compliant motion task (pe...
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The paper discusses new developments of the data fusion paradigm due to Cortesao and Koeppe (1999, 2000). A bank of Kalman filters is analyzed in the fusion process. Experiments for a robotic compliant motion task (peg-in-hole) emerged from human skills are reported. Stereo vision and pose sense are fused to execute the task. Feedforward artificial neural networks (ANNs) are trained to transfer human skills to robotic manipulators.
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