to DMG-Lib main page
Home  · Site map  · Contact  ·

Advanced Search   Mechanism Search

End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots : Controllo della forza di contatto al punto terminale con la teoria della retroazione quantitativa per robot mobili, in: International Journal of Advanced Robotic Systems

Dokument öffnen (benötigt JavaScript)   Open document

General information

Author Wen, Shuhuan; Zhu, Jinghai; Li, Xiaoli; Rad, Ahmad B.; Chen, Xiao
Published  InTech Open Access Publisher, 2012
Abstract Robot force control is an important issue for
intelligent mobile robotics. The end‐point stiffness of a
robot is a key and open problem in the research
community. The control strategies are mostly dependent
on both the specifications of the task and the environment
of the robot. Due to the limited stiffness of the endeffector,
we may adopt inherent torque to feedback the
oscillations of the controlled force. This paper proposes
an effective control strategy which contains a controller
using quantitative feedback theory. The nested loop
controllers take into account the physical limitation of the
system’s inner variables and harmful interference. The
biggest advantage of the method is its simplicity in both
the design process and the implementation of the control
algorithm in engineering practice. Taking the one‐link
manipulator as an example, numerical experiments are
carried out to verify the proposed control method. The
results show the satisfactory performance.
Journal articles
2000 and later
Superordinate work
no fulltext found International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
Linked items
Documents: International Journal of Advanced Robotic Systems
Permanent links
DMG-Lib FaviconDMG-Lib
Europeana FaviconEuropeana
PDF FaviconPDF  End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots
Data provider
UCAUniv. Cassino
Administrative information
Time of publication 2012
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

nach oben up