there have been many researches on object grasping in cooperating systems assuming no object slippage and stable grasp and the control system is designed to keep the contact force inside the friction cone to prevent the slippage. however undesired slippage can occur due to environmental conditions and many other reasons. in this research, dynamic analysis and control synthesis of a cooperating ...

There have been many researches on object grasping in cooperating systems assuming no object slippage and stable grasp and the control system is designed to keep the contact force inside the friction cone to prevent the slippage. However undesired slippage can occur due to environmental conditions and many other reasons. In this research, dynamic analysis and control synthesis of a cooperating ...

performances of electronic and mechanical draft control systems on a mf399 tractor were the objectives of the study to be evaluated and compared under field conditions. hence, the effects of two draft control systems (mechanical and electronic) under four ground speed levels and three set values of draft levels on rear wheel slippage, fuel consumption, compressive force within the top link and ...

This paper presents an analysis result of grasp-move-and-twist motions of robotic hands equipped with optical three-axis tactile sensor to evaluate performance of a new control algorithm based on tactile slippage sensation. The optical three-axis tactile sensor is capable of defining normal and shear forces simultaneously. The proposed algorithm consists of robot arm and hand controls based on ...

With the widespread use of wheeled mobile robots (WMR) in various applications, new challenges have arisen in terms of designing its control system. One of such challenges is caused by wheel slippage. This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage (not including sliding). In this teleoperation system, the mobile robot’s linear velocity foll...

Wheel slippage creates control challenges for wheeled mobile robots (WMR). This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage by using the time-domain passivity control (TDPC) approach. We show the potential nonpassivity for the environment termination caused by the slippage dynamics. The utilized TDPC approach maintains the passivity of teleop...

This paper deals with path tracking control of tracked vehicle on extremely soft cohesive soil. The dynamics of tracked vehicle is very complex and nonlinear because of the slippage of vehicle and the soil shearing. For the purpose of control of tracked vehicle we adopted simplified approaches. The vehicle is modeled as single-body vehicle. Two kinds of PD (Proportional-Differential) controller...

The purpose of this work is to investigate the accurate trajectory tracking control of a wheeled mobile robot (WMR) based on the slip model prediction. Generally, a nonholonomic WMR may increase the slippage risk, when traveling on outdoor unstructured terrain (such as longitudinal and lateral slippage of wheels). In order to control a WMR stably and accurately under the effect of slippage, an ...

Multi-degree-of-freedom (MDOF) vehicles have many potential advantages over conventional (i.e., 2-DOF) vehicles. For example, MDOF vehicles can travel sideways and they can negotiate tight turns more easily. In addition, some MDOF designs provide better payload capability, better traction, and improved static and dynamic stability. However, MDOF vehicles with more than three degrees-of-freedom ...