scholarly journals A family of robot control strategies for intermittent dynamical environments

1990 ◽  
Vol 10 (2) ◽  
pp. 16-22 ◽  
Author(s):  
M. Buhler ◽  
D.E. Koditschek ◽  
P.J. Kindlmann
Keyword(s):  
Robot Control ◽  
Control Strategies

Identification of Coulomb Friction in Robot Drives and Other Mechanical Systems Through Observation of Third Harmonic Generation

1994 ◽  
Vol 208 (5) ◽  
pp. 329-336 ◽  
Author(s):  
D J Brookfield
Keyword(s):  
Coulomb Friction ◽  
Robot Control ◽  
Control Strategies ◽  
Harmonic Component ◽  
Experimental Tests ◽  
Third Harmonic ◽  
The Third ◽  
Drive Systems ◽  
Driving Torque ◽  
Frictional Behaviour

One of the main difficulties in introducing improved robot control strategies is a lack of knowledge of the frictional behaviour of robot drive systems. The aim of the present paper is to describe a technique for the identification of Coulomb friction based on the response of the robot drive to a sinusoidal driving torque The presence of a third harmonic component in the resulting velocity is a consequence of the Coulomb non-linearity and it is shown theoretically, through computer simulation and in experimental tests, that the coefficient of Coulomb friction can be estimated from the amplitude of the third harmonic component. The identification method is shown to be applicable to any mechanical system that can be subjected to a sinusoidal forcing torque or force.

scholarly journals A Tool for the Development of Robot Control Strategies

2007 ◽  
Vol 6 (2) ◽  
Author(s):  
Luiz Carlos Figueiredo ◽  
Gilcésar Ávila ◽  
Francisco Reinaldo ◽  
Rui Camacho ◽  
Demétrio R. Magalhães ◽  
...  
Keyword(s):  
Robot Control ◽  
Control Strategies ◽  
Experimental Tests ◽  
Traction Motors

In this paper we report as the development of a tool in to develop and set control strategies as a fast and easy way. Additionally, a tricycle robot with two traction motors was built to test the strategies produced with the tool. Experimental tests have shown an advantage in the use of such tool.

HUMANOID LOW-LEVEL CONTROLLER DEVELOPMENT BASED ON A REALISTIC SIMULATION

2010 ◽  
Vol 07 (04) ◽  
pp. 587-607 ◽  
Author(s):  
JOSÉ L. LIMA ◽  
JOSÉ C. GONÇALVES ◽  
PAULO G. COSTA ◽  
A. PAULO MOREIRA
Keyword(s):  
Energy Consumption ◽  
Robot Control ◽  
Humanoid Robot ◽  
Control Strategies ◽  
Control Software ◽  
The Real ◽  
Low Level ◽  
Real Robot ◽  
Real Hardware ◽  
And Control

This article describes a joint trajectory optimized controller developed in a humanoid robot simulator following the real robot characteristics. As simulation is a powerful tool for speeding up the control software development, the proposed accurate simulator allows to fulfill this goal. The simulator, based on the Open Dynamics Engine and GLScene graphics library, provides instant visual feedback. The proposed simulator, with realistic dynamics, allows to design and test behaviors and control strategies without access to the real hardware in order to carry out research on robot control without damaging the real robot. The low-level joints controller techniques, such as acceleration, speed, and energy consumption minimization, are discussed and experimental results are presented in order to validate the proposed simulator.

scholarly journals Human-robot control strategies for the NASA/DARPA Robonaut

2004 ◽  
Author(s):  
M.A. Diffler ◽  
F.L. Huber ◽  
C.J. Culbert ◽  
R.O. Ambrose ◽  
W.J. Bluethmann
Keyword(s):  
Robot Control ◽  
Control Strategies

scholarly journals Reachy, a 3D-Printed Human-Like Robotic Arm as a Testbed for Human-Robot Control Strategies

2019 ◽  
Vol 13 ◽  
Author(s):  
Sébastien Mick ◽  
Mattieu Lapeyre ◽  
Pierre Rouanet ◽  
Christophe Halgand ◽  
Jenny Benois-Pineau ◽  
...  
Keyword(s):  
Robot Control ◽  
Control Strategies ◽  
Robotic Arm ◽  
3D Printed
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