Compliance Control Considering a Robot's Manipulability

Manipulability of Cooperating Robots with Passive Joints

Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables

In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...

Manipulability, force, and compliance analysis for planar continuum manipulators

Continuum manipulators, inspired by the natural capabilities of elephant trunks and octopus tentacles, may find niche applications in areas like human-robot interaction, multiarm manipulation, and unknown environment exploration. However, their true capabilities will remain largely inaccessible without proper analytical tools to evaluate their unique properties. Ellipsoids have long served as o...

On the manipulability ellipsoids of underactuated robotic hands with compliance

Underactuation in robotic hands is currently attracting a lot of interest from researchers. The challenging idea of underactuation in grasping is that hands, with reduced number of actuators, supported by suitable design and control, may not suffer from reduced performances. This trend is also strengthened by recent neuroscience studies which demonstrates that also humans use sensorimotor syner...

Joystick Teaching System for Industrial Robots Using Fuzzy Compliance Control

Industrial robots have been applied to several tasks, such as handling, assembling, painting, deburring and so on (Ferretti et al., 2000), (Her & Kazerooni, 1991), (Liu, 1995), (Takeuchi et al., 1993), so that they have been spread to various fields of manufacturing industries. However, as for the user interface of the robots, conventional teaching systems using a teaching pendant are only prov...