Force Sensorless Control in a Flexible Link Arm Based on Estimated Reaction Torque.
نویسندگان
چکیده
منابع مشابه
Sensorless Torque/Force Control
Motion control systems represent a main subsystem for majority of processing systems that can be found in the industrial sector. These systems are concerned with the actuation of all devices in the manufacturing process such as machines, robots, conveyor systems and pick and place mechanisms such that they satisfy certain motion requirements, e.g., the pre specified reference trajectories are f...
متن کاملForce Control and Exponential Stability for One-link Flexible Arm
We discuss a force control problem for a constrained one-link flexible arm based on distributed parameter model. In order to solve the force control problem, we propose a simple feedback control law. This control law consists of bending moment at the root of the flexible arm and its derivative, which regulates simultaneously the force and the rotational angle of the motor without the angle and ...
متن کاملA Flexible Link Radar Control Based on Type-2 Fuzzy Systems
An adaptive neuro fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part is presented in this paper. The capability of the proposed method (we named ANFIS2) for function approximation and dynamical system identification is remarkable. The structure o...
متن کاملFlexible Foot/Ankle Based on PKM with Force/Torque Sensor for Humanoid Robot
This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...
متن کاملForce Control of a Constrained One-link Flexible Arm : a Distributed-parameter Modeling Approach
The force control of a constrained one-link flexible arm is considered based on a linear distributed parameter model. To overcome the inherent limitations caused by the non-minimum phase nature of the noncollocation of the joint torque input and the tip contact force output, a passive transfer function is obtained by using the methods of feedback and output redefinition. A passivity-based PD co...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Japan Society for Precision Engineering
سال: 1997
ISSN: 1882-675X,0912-0289
DOI: 10.2493/jjspe.63.198