5/8/2023 0 Comments Dynamic gamma controlManipulator is divided into two components: a computed torque trajectoryĬontroller that regulates the robot position and a compliance controller Robot and the environment have been modeled. Uncertainties, and the dynamics of the total system composed of the The external disturbances, sensor noises, parameter Robotic motion, a maneuver where the manipulator contacts theĮnvironment. The authors present a nonlinear stability analysis for constrained The effectiveness of the control method is confirmed experimentally.(Received July 10 1994) The developed control method is implemented on a two-fingered planar robot hand one finger of which has a redundant joint. It offers a feasible way of controlling the fingertip stiffness as well as maintaining the stability of the finger configuration by modulating the joint stiffness. The computed fingertip stiffness is achieved by OSDC. Employing the proposed FSS always achieves the desired grasp stiffness by solving the constrained least square problem. DOSC is composed of a fingertip stiffness synthesis (FSS) algorithm and orthogonal stiffness decomposition control (OSDC). Based upon this model, a hierarchical control scheme of the grasp stiffness, called decentralized object stiffness control (DOSC) is proposed. A model describing the relation between stiffness and force is derived. Emphasis is placed on achieving the desired stiffness of a grasped object as accurately as possible, especially when the fingers have redundant joints. This paper addresses a method of satisfactorily controlling the grasp of objects. Experimental results illustrate theĮfficiency and the robustness of this control method on dynamicallyĬomplex tasks involving interactions between two industrial manipulators Observation of the real behavior of the experimental system is used toĭesign some simple fuzzy rules. The reactive external loop is implemented using fuzzy logic techniques. It is alsoĬapable of rapid self tuning when the environment dynamics are changed. The reference trajectory of the inner impedance controller. This paper focuses on the external loop, which takes intoĪccount both interaction forces and environment displacements to modify It consists ofĮncapsulating a dynamic impedance controller with a reactive externalįorce loop. Robustness with respect to these disturbances. The solution the authors have developed provides Occur during unexpected environment motions or sudden changes in theĮnvironment dynamics. In the presence of external dynamic disturbances. Conventional force control of manipulators is drastically degraded
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