[PDF] Top 20 Impedance control using a cascaded loop force control
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Impedance control using a cascaded loop force control
... to impedance control concentrates on robotic systems in which the joint elasticity is ...these control laws. In [7], Ott et al. proposed an impedance control law taking into account ... Voir le document complet
8
Stochastic optimal open-loop control as a theory of force and impedance planning via muscle co-contraction
... become a relevant strategy regarding disturbance rejection and task ...errors using sensory feedback and reciprocal activations that are less costly than ...co-contraction. A few studies have ... Voir le document complet
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A cascaded loop structure in force and position to control a bilateral teleoperation robotic system
... to a force ...the force sensor between the base of the robot and its ...study, a force sensor placed at the end-effector of the robot allows a better rejection of the inner ... Voir le document complet
7
Robust impedance active control of flight control devices
... the control of the mechanical impedance of an aircraft ...The control architecture involves an inner position servo-loop and an outer loop feedbacking the torque/force ... Voir le document complet
7
Explicit force control V.S. impedance control for micromanipulation.
... presents a study of different force control schemes for controlling contact during manipulation tasks at the ...Explicit force control and impedance control are compared ... Voir le document complet
9
Explicit force control V.S. impedance control for micromanipulation.
... presents a study of different force control schemes for controlling contact during manipulation tasks at the ...Explicit force control and impedance control are compared ... Voir le document complet
9
Design and analysis of series elasticity in closed-loop actuator force control
... Compliance A simple method to achieve pseudo force control and low robot output impedance is to have a robot use conventional position control but incorporate passive ...active ... Voir le document complet
123
Open-loop control of cavity noise using Proper Orthogonal Decomposition reduced-order model
... norm. A reduced-order model of the unactuated dynamics was then derived by a Galerkin projection of the isentropic Navier–Stokes equations onto the first POD ...In a second step, this un- actuated ... Voir le document complet
15
Open-loop control of cavity noise using Proper Orthogonal Decomposition reduced-order model
... in a change of the impingement on the downstream ...feedback loop mechanism inside the cavity is modified, lead- ing to a reduction of the unsteadiness of the pressure ...and a change of the ... Voir le document complet
14
Modeling and optimal force control of a nonlinear electrostatic microgripper.
... and a capacitive force sensor ( 50nN resolution) providing a noise signal with a peak-to-peak magnitude reaching ...from a modeling point of view, we propose a knowledge based ... Voir le document complet
10
The design and construction of a modular force control actuator
... This thesis describes the design, construction, and performance of a modular force control actuator, incorporating an electric motor, a gearbox, a ball screw acting as pa[r] ... Voir le document complet
37
Transient stability emergency control combining open-loop and closed-loop technique
... emergency control method, named E- SIME, was proposed some years ago [3] to ...corresponding control action; decision-making and decision ...open-loop control may be an interesting ... Voir le document complet
7
A closed-loop and ergonomic control for prosthetic wrist rotation
... A closed-loop and ergonomic control for prosthetic wrist rotation Mathilde Legrand 1 , Nathana¨el Jarrass´e 1 , Florian Richer 1 and Guillaume Morel 1 Abstract— Beyond the ultimate goal of ... Voir le document complet
8
Open-loop control of three-dimensional wakes
... This numerical method, taking implicitly into account transport terms, has no sta- bility condition relying on transport, usually leading to very small time steps. Thus one can use long time steps with the present ... Voir le document complet
7
Control of penetration in gas-tungsten-arc welding : a puddle impedance approach
... the controller becomes a pure proportional controller. The star indicates the sampling operation. A first order · reconstructor is used to convert the discrete outpu[r] ... Voir le document complet
171
Adaptive loop sensitivity characteristics for a model reference adaptive control system
... In an attempt to reduce the wide range of adaptive loop sensitivities required for optimum performance under various flight conditions, initial parameter settings, a[r] ... Voir le document complet
70
Ice force modeling for DP control systems
... as a rigid body with no dynamic positioning system ...by a virtual tow carriage (only surge motion is allowed), forcing the vessel to move ...at a preliminary stage and it shows the future plan for ... Voir le document complet
11
Geometric optimal techniques to control the muscular force response to functional electrical stimulation using a non-isometric force-fatigue model
... pulses. A second more recent step led to models taking into account the dynamics of the fa- tigue variables, see for instance the Ding et ...the force response to FES-input, and the evolution of three ... Voir le document complet
25
Lorentz Force Electrical Impedance Tomography
... Lorentz Force Electrical Impedance Tomo- ...in a magnetic field : the vibration of the tissues inside the field induces an electrical current by Lorentz ...sample, a map of the electrical ... Voir le document complet
6
Feedback Control as MAPE-K loop in Autonomic Computing
... the control of continuous process are given as a set of di ffer- ential equations, which are further discretized as di fference equations for numerical control ...at a detailed level, digital ... Voir le document complet
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