Adaptive force control of position/velocity controlled robots: theory and experiment

2002 ◽  
Vol 18 (2) ◽  
pp. 121-137 ◽  
Author(s):  
J. Roy ◽  
L.L. Whitcomb
Keyword(s):  
Force Control ◽  
Theory And Experiment ◽  
Adaptive Force Control

A novel adaptive force control method for IPMC manipulation

2012 ◽  
Vol 21 (7) ◽  
pp. 075016 ◽  
Author(s):  
Lina Hao ◽  
Zhiyong Sun ◽  
Zhi Li ◽  
Yunquan Su ◽  
Jianchao Gao
Keyword(s):  
Force Control ◽  
Control Method ◽  
Adaptive Force Control

Enhanced executive attention efficiency after adaptive force control training: Behavioural and physiological results

2019 ◽  
Vol 376 ◽  
pp. 111859 ◽  
Author(s):  
Meijun Liu ◽  
Jicong Zhang ◽  
Wenxiao Jia ◽  
Qi Chang ◽  
Siyuan Shan ◽  
...  
Keyword(s):  
Force Control ◽  
Executive Attention ◽  
Adaptive Force Control

Position and Force Control of Two CRS A460 Robots Manipulating a Flexible Sheet: Theory and Experiment

1998 ◽  
Vol 120 (4) ◽  
pp. 529-533 ◽  
Author(s):  
Dong Sun ◽  
James K. Mills
Keyword(s):  
Force Control ◽  
Industrial Robots ◽  
Pd Control ◽  
Hybrid Controller ◽  
Position Feedback ◽  
Proper Design ◽  
First Time ◽  
Theory And Experiment

It is verified in theory and experiment that through proper design of the control gains, the simple PD position feedback can control a flexible sheet manipulated by two industrial robots to a desired position while regulating its deformations at the contacts to zero. The offsets of all static deformations of the sheet with reference to the original positions decay to zero. A hybrid controller is further developed to control the motion of the sheet as well as its interactions with the manipulators by adding a force feedforward term to the PD scheme. This is the first time that conventional PD control has been shown to be applicable for use in the manipulation of flexible payload.

Achieving high-precision laparoscopic manipulation through adaptive force control

2004 ◽  
Vol 18 (9) ◽  
pp. 905-926 ◽  
Author(s):  
Alexandre Krupa ◽  
Guillaume Morel ◽  
Michel de Mathelin
Keyword(s):  
High Precision ◽  
Force Control ◽  
Adaptive Force Control
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