Dynamics and control of direct-drive robots with positive joint torque feedback

2002 ◽  
Author(s):  
F. Aghili ◽  
M. Buehler ◽  
J.M. Hollerbach
Keyword(s):  
Joint Torque ◽  
Direct Drive ◽  
Dynamics And Control ◽  
Joint Torque Feedback ◽  
And Control

Dynamics and Control of Robotic Systems Worn by Humans

1991 ◽  
Vol 113 (3) ◽  
pp. 379-387 ◽  
Author(s):  
H. Kazerooni ◽  
S. L. Mahoney
Keyword(s):  
Material Handling ◽  
Robotic Systems ◽  
Control Technique ◽  
Load Force ◽  
Two Dimensional ◽  
Direct Drive ◽  
Human Arm ◽  
Dynamics And Control ◽  
Physical Interfaces ◽  
And Control

This article describes the dynamics, control, and stability of extenders, robotic systems worn by humans for material handling tasks. Extenders are defined as robot manipulators which extend (i.e., increase) the strength of the human arm in load maneuvering tasks, while the human maintains control of the task. Part of the extender motion is caused by physical power from the human; the rest of the extender motion results from force signals measured at the physical interfaces between the human and the extender, and the load and the extender. Therefore, the human wearing the extender exchanges both power and information signals with the extender. The control technique described here lets the designer define an arbitrary relationship between the human force and the load force. A set of experiments on a two-dimensional non-direct-drive extender were done to verify the control theory.

Human Extenders

1993 ◽  
Vol 115 (2B) ◽  
pp. 281-290 ◽  
Author(s):  
H. Kazerooni ◽  
Jenhwa Guo
Keyword(s):  
Degrees Of Freedom ◽  
Experimental Studies ◽  
Mathematical Expression ◽  
Contact Forces ◽  
Degree Of Freedom ◽  
Direct Drive ◽  
Physical Strength ◽  
Dynamics And Control ◽  
And Performance ◽  
And Control

A human’s ability to perform physical tasks is limited by physical strength, not by intelligence. We coined the word “extenders” as a class of robot manipulators worn by humans to augment human mechanical strength, while the wearer’s intellect remains the central control system for manipulating the extender. Our research objective is to determine the ground rules for the control of robotic systems worn by humans through the design, construction, and control of several prototype experimental direct-drive/non-direct-drive multi-degree-of-freedom hydraulic/electric extenders. The design of extenders is different from the design of conventional robots because the extender interfaces with the human on a physical level. The work discussed in this article involves the dynamics and control of a prototype hydraulic six-degree-of-freedom extender. This extender’s architecture is a direct drive system with all revolue joints. Its linkage consists of two identical subsystems, the arm and the hand, each having three degrees of freedom. Two sets of force sensors measure the forces imposed on the extender by the human and by the environment (i.e., the load). The extender’s compliances in response to such contact forces were designed by selecting appropriate force compensators. The stability of the system of human, extender, and object being manipulated was analyzed. A mathematical expression for the extender performance was determined to quantify the force augmentation. Experimental studies on the control and performance of the experimental extender were conducted to verify the theoretical predictions.

PROJECT ON ELECTRONIC STEERING SYSYTEM

2018 ◽  
Vol 4 (5) ◽  
pp. 7
Author(s):  
Shivam Dwivedi ◽  
Prof. Vikas Gupta
Keyword(s):  
Steering System ◽  
Essential Elements ◽  
Variable Pressure ◽  
Passenger Cars ◽  
Control Techniques ◽  
Steering Mechanism ◽  
Dynamics And Control ◽  
Active Research ◽  
Electronic Steering ◽  
And Control

As the four-wheel steering (4WS) system has great potentials, many researchers' attention was attracted to this technique and active research was made. As a result, passenger cars equipped with 4WS systems were put on the market a few years ago. This report tries to identify the essential elements of the 4WS technology in terms of vehicle dynamics and control techniques. Based on the findings of this investigation, the report gives a mechanism of electronically controlling the steering system depending on the variable pressure applied on it. This enhances the controlling and smoothens the operation of steering mechanism.

Author response for "Dynamics and control of microgrids as a resiliency source"

2020 ◽  
Author(s):  
Lung-An Lee ◽  
Chen-Ching Liu ◽  
Yin Xu ◽  
Kevin P. Schneider ◽  
Francis K. Tuffner ◽  
...  
Keyword(s):  
Author Response ◽  
Dynamics And Control ◽  
And Control
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