Impedance Controllers for Electric-Driven Robots
نویسندگان
چکیده
منابع مشابه
Task-space Control of Electrically Driven Robots
Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...
متن کاملElectric Impedance
Electrical impedance tomogram of the mammary gland (EIM). Seven planes of scanning. In the sixth and the seventh scans, a retromammary tissue is visualized. It can be used to distinguish tissues and identify pathologies. Lorentz force electrical impedance tomography is an ultrasoundbased medical imaging technique. In this study, a new platform based on electric cell-substrate impedance sensing ...
متن کاملImpedance Control of Robots Using Voltage Control Strategy Revisited
In this note, we show that the impedance control strategy proposed in the paper is not feasible from practical implementation point of view. Next, a robust impedance controller is proposed for electrically driven robots using Fourier series (FS). The fact that robots' actuators have limited voltage is also considered in controller design procedure. In comparison with other impedance controllers...
متن کاملDevelopment of membrane controllers for mobile robots
The main contribution of this paper is the introduction of the new concept of membrane controller based on the structure and functioning of a deterministic numerical P system. The procedure for developing a membrane controller and for using it to control a mobile robot is explained and several test cases are given in which membrane controllers are used to control both simulated and real mobile ...
متن کاملEvolving Motion Controllers for Articulated Robots
Articulated robots have a much more complex relationship between motor outputs and locomotion than wheel robots have. We can simplify this relationship using an abstraction layer of cyclic motor outputs corresponding to different kinds of locomotion. One way to create these cyclic motor outputs is by evolving a controller network consisting of oscillators, motor output nodes, and weighted edges...
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 Automation, Mobile Robotics & Intelligent Systems
سال: 2013
ISSN: 1897-8649,2080-2145
DOI: 10.14313/jamris_4-2013/13