Study on operational space control of a redundant robot with un-actuated joints: experiments under actuation failure scenarios
Sign Up to like & getrecommendations! Published in 2021 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-021-06545-6
Abstract: This paper analyzes operational space dynamics for redundant robots with un-actuated joints and reveals their highly nonlinear dynamic impacts on operational space control (OSC) tasks. Unlike conventional OSC approaches that partly address the under-actuated system… read more here.
Keywords: actuation failure; actuated joints; control; operational space ... See more keywords
Control in the operational space of bilateral teleoperators with time-delays and without velocity measurements
Sign Up to like & getrecommendations! Published in 2018 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2018.07.278
Abstract: Abstract This paper proposes a control scheme in the operational space for bilateral teleoperation systems composed of heterogeneous robots (kinematically and dynamically different) without velocity sensors and considering variable time-delays in the interconnection. The proposed… read more here.
Keywords: operational space; velocity; without velocity; time delays ... See more keywords
The operational space for divertor power exhaust in DEMO with a super-X divertor
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DOI: 10.1088/1741-4326/abf9df
Abstract: SOLPS-ITER simulations of the European DEMO reactor with a Super-X divertor, which has larger major radius at the outer target and increased connection length, show an increased operational space for divertor power exhaust compared to… read more here.
Keywords: operational space; power; super divertor; single null ... See more keywords
Operational space efficiency (OpSE): a structured metric to evaluate the efficient use of space in industrial workstations
Sign Up to like & getrecommendations! Published in 2023 at "International Journal of Productivity and Performance Management"
DOI: 10.1108/ijppm-07-2022-0362
Abstract: PurposeThis paper proposes a new metric, named Operational Space Efficiency (OpSE), intended to diagnose and quantify the inefficient use of floor space for stocking materials in industrial workstations. OpSE presents a formulation analogous to the… read more here.
Keywords: operational space; methodology; space; space efficiency ... See more keywords
The Operational Space Formulation on Humanoids Considering Joint Stiffness and Bandwidth Limit
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DOI: 10.1109/access.2021.3109275
Abstract: As the applications of robots increase, mobility and capability of interaction in unstructured environments have become important. Hence, humanoid robots have been developed to have these capabilities, and recently, compliant motions for safe contact have… read more here.
Keywords: space formulation; space; joint stiffness; operational space ... See more keywords