Study on design and control of torque-controlled manipulators
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Study on design and control of torque-controlled manipulators by Kunikatsu Takase

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Published by National Aeronautics and Space Administration in Washington, DC .
Written in English


  • Robots -- Motion.

Book details:

Edition Notes

StatementKunikatsu Takase.
SeriesNASA technical translation -- NASA TT-20197., NASA technical translation -- 20197.
ContributionsUnited States. National Aeronautics and Space Administration.
The Physical Object
Pagination1 v.
ID Numbers
Open LibraryOL15288869M

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  This book is intended to provide an in-depth study of control systems for serial-link robot arms. It is a revised and expended version of our book. Chapters have been added on commercial robot manipulators and devices, neural network intelligent control, and implementation of advanced controllers on actual robotic books/Robot_Manipulator. Request PDF | A New Actuation System for High-Performance Torque-Controlled Manipulators | The work reported in this paper is a part of a larger effort concerned with the design and development of Fundamentals in Modeling and Control of Mobile Manipulators presents a thorough theoretical treatment of several fundamental problems for mobile robotic manipulators. The book integrates fresh Control and Design of Flexible-link Manipulators and submitted in partial fulfilment of the requirements for the degree of Doctor of Philosophy complies with the regulations of this University and meets the accepted standards with respect to originality and quality. Signed by the final examining committee: Prof. b Prof. D. Wang

  Design, modeling and control of a pneumatically actuated manipulator inspired by biological continuum structures. Rongjie Kang 1,2, David T Branson 3, Tianjiang Zheng 1, Emanuele Guglielmino 1 and Darwin G Caldwell 1. Published 15 July • IOP Publishing Ltd Bioinspiration & Biomimetics, Volume 8, Number 3   torque and some variants including adaptive versions. For purely didactic rea-sons, we have also chosen to focus on control in joint space, totally skipping task space and end-effector space based control. These topics are addressed in a number of texts elsewhere. The present book opens with an introductory chapter explaining, in gen- Science/8_Electronics & Robotics/Control of.   kinematics, dynamics, control, sensing, and planning for robot manipu-lators. Given the state of maturity of the subject and the vast diversity of stu-dents who study this material, we felt the need for a book which presents a slightly more abstract (mathematical) formulation of the kinematics, dynamics, and control of robot ://~murray/books/MLS/pdf/   Learning Impedance Control for Robotic Manipulators Chien-Chern Cheah and Danwei Wang Abstract— Learning control is a concept for controlling dynamic systems in an iterative manner. It arises from the recognition that robotic manipulators are usually used to perform repetitive tasks. Most researches on the iterative learning control of

This paper describes the overall control structure of a new generation of compliance controlled manipulators implemented by the design and control of the DLR lightweight robot. To achieve the compliance property, the manipulator does not have to revert to a human-like, bionic ://   The goal of this study is to present a robust control method for the control of underactuated manipulators subject to modelling errors and disturbances. Because an accurate modelling of the underactuated system is more critical for control issues than it is for standard manipulators, this method is significant in :// Torque control of a redundantly actuated passive manipulator. The study of passivity in the robotics domain has been motivated by safety and stability concerns in applications such as haptic   characteristics which are widely used in the study of active vibration control of exible manipulators []. e dynamical model of exible manipulators has the features of being time-varying, strong coupling, and highly nonlinear which brings insuperable di culties of the single controller design and it is hard to get ideal control e