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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

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Auteur Wen, Shuhuan; Zhu, Jinghai; Li, Xiaoli; Rad, Ahmad B.; Chen, Xiao
Publié  InTech Open Access Publisher, 2012
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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.
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2000 et après
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no fulltext found International Journal of Advanced Robotic Systems
Auteur: 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, [...]
Publié: 2004
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Documents: International Journal of Advanced Robotic Systems
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Time of publication 2012
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