Force control of redundant robots in unstructured environment

2002 ◽  
Vol 49 (1) ◽  
pp. 233-240 ◽  
Author(s):  
B. Nemec ◽  
L. Zlajpah
Keyword(s):  
Force Control ◽  
Redundant Robots ◽  
Unstructured Environment

Experiments with Force Control of Redundant Robots in Unstructured Environment Using Minimal Null-space Formulation

2001 ◽  
Vol 5 (5) ◽  
pp. 263-268
Author(s):  
Bojan Nemec ◽  
◽  
Leon Zlajpah Institute Jozef Stefan
Keyword(s):  
Force Control ◽  
Null Space ◽  
Robot Arm ◽  
End Effector ◽  
Redundant Robots ◽  
Unstructured Environment ◽  
Space Formulation ◽  
Null Space Approach ◽  
Selection Of ◽  
Space Approach

The paper describes the implementation of the force control for redundant robots in an unstructured environment. We assume that the obstacles are not known in advance. Hence, the robot arm has to be compliant with the environment while tracking the desired position and force at the end effector. Using the minimal null space approach the appropriate impedance controller, which decouples the end effector and the null space spaces was derived. The control algorithm enables the selection of dynamic characteristics in both subspaces independently.The proposed method was verified with the simulation and with experiments on a 4 D.O.F planar redundant robot.

Robust hybrid position/force control of redundant robots

1999 ◽  
Vol 27 (3) ◽  
pp. 111-127 ◽  
Author(s):  
Krzysztof P. Jankowski ◽  
Hoda A. ElMaraghy
Keyword(s):  
Force Control ◽  
Redundant Robots

Force Control of Redundant Robots

1997 ◽  
Vol 30 (20) ◽  
pp. 209-214
Author(s):  
Bojan Nemec
Keyword(s):  
Force Control ◽  
Redundant Robots

Impaired anticipation of force control following lateralised brain damage in size-weight illusion

2008 ◽  
Vol 35 (S 01) ◽  
Author(s):  
Y Li ◽  
J Randerath ◽  
G Goldenberg ◽  
J Hermsdörfer
Keyword(s):  
Brain Damage ◽  
Force Control ◽  
Weight Illusion

Altered isometric force control during object release in patients with Huntington's Disease

2005 ◽  
Vol 32 (S 4) ◽  
Author(s):  
F Kirsten ◽  
S Bohlen ◽  
J Sommer ◽  
T Merl ◽  
P Saemann ◽  
...  
Keyword(s):  
Huntington's Disease ◽  
Huntington’S Disease ◽  
Force Control ◽  
Isometric Force

Effect of Inner and Outer Wheels Driving Force Control on Small Electric Vehicle

2020 ◽  
Vol 17 (4) ◽  
pp. 8246-8254
Author(s):  
K. Shibazaki ◽  
H. Nozaki
Keyword(s):  
Control System ◽  
Angular Velocity ◽  
Electric Vehicle ◽  
Force Constant ◽  
Force Control ◽  
Driving Force ◽  
Vehicle Control ◽  
Steering Angle ◽  
Force Control System ◽  
The Difference

In this study, in order to improve steering stability during turning, we devised an inner and outer wheel driving force control system that is based on the steering angle and steering angular velocity, and verified its effectiveness via running tests. In the driving force control system based on steering angle, the inner wheel driving force is weakened in proportion to the steering angle during a turn, and the difference in driving force is applied to the inner and outer wheels by strengthening the outer wheel driving force. In the driving force control (based on steering angular velocity), the value obtained by multiplying the driving force constant and the steering angular velocity,  that differentiates the driver steering input during turning output as the driving force of the inner and outer wheels. By controlling the driving force of the inner and outer wheels, it reduces the maximum steering angle by 40 deg and it became possible to improve the cornering marginal performance and improve the steering stability at the J-turn. In the pylon slalom it reduces the maximum steering angle by 45 deg and it became possible to improve the responsiveness of the vehicle. Control by steering angle is effective during steady turning, while control by steering angular velocity is effective during sharp turning. The inner and outer wheel driving force control are expected to further improve steering stability.

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