Deschide documentul
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Informaţii generale |
| Autor |
Wen, Shuhuan; Zhu, Jinghai; Li, Xiaoli; Rad, Ahmad B.; Chen, Xiao |
| Publicat |
InTech Open Access Publisher, 2012
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| Ediţie |
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| Detaliază |
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| ISBN |
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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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International Journal of Advanced Robotic Systems
Autor: 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, [...]
Publicat: 2004
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