Fixed-time compliant motion/force control of robotic manipulators with environmental constraints
Sign Up to like & getrecommendations! Published in 2017 at "Assembly Automation"
DOI: 10.1108/aa-11-2016-158
Abstract: Purpose The purpose of this paper is to design a new compliant motion/force control strategy for robotic manipulators with environmental constraints in the sense of fixed-time stability. Design/methodology/approach This paper investigates a novel compliant motion/force… read more here.
Keywords: time; fixed time; compliant motion; force ... See more keywords
The Applications of Compliant Motion Control Technique on 6-DOF Hydraulic Parallel Mechanism
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DOI: 10.1109/access.2019.2927033
Abstract: Most interaction control formulations focused on electrically driven parallel mechanism. In this paper, the combining practice applications of compliant motion control technique on six degrees of freedom (6-DOF) hydraulic parallel mechanism (HPM) are investigated. According… read more here.
Keywords: compliant motion; motion control; parallel mechanism; control ... See more keywords
Torque-Sensorless Control of Stepper Motors for Low-Cost Compliant Motion Generation
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DOI: 10.1109/access.2021.3094506
Abstract: Actuators that can generate controllable compliant output motion are suitable for robots that need to interact safely with humans or the environment. To obtain the accurate output torque required to control the compliant motion, existing… read more here.
Keywords: compliant motion; stepper motors; control; torque sensorless ... See more keywords
Deep-Learning-Based Compliant Motion Control of a Pneumatically-Driven Robotic Catheter
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DOI: 10.1109/lra.2022.3186497
Abstract: In cardiovascular interventions, when steering catheters and especially robotic catheters, great care should be paid to prevent applying too large forces on the vessel walls as this could dislodge calcifications, induce scars or even cause… read more here.
Keywords: catheter; control; compliant motion; motion control ... See more keywords