Force-based disturbance observer for dynamic force control and a position/force hybrid controller

2013 ◽  
Vol 8 (5) ◽  
pp. 505-514 ◽  
Author(s):  
Sho Sakaino ◽  
Tomoya Sato ◽  
Kouhei Ohnishi
Keyword(s):  
Force Control ◽  
Disturbance Observer ◽  
Dynamic Force ◽  
Hybrid Controller

Simulation of brake by wire system with dynamic force control

2014 ◽  
Author(s):  
W. A. Shanaka P. Abeysiriwardhana ◽  
A. M. Harsha S. Abeykoon
Keyword(s):  
Force Control ◽  
Dynamic Force ◽  
Wire System

Dynamic-force spectroscopy measurement with precise force control using atomic-force microscopy probe

2006 ◽  
Vol 100 (7) ◽  
pp. 074315 ◽  
Author(s):  
Osamu Takeuchi ◽  
Takaaki Miyakoshi ◽  
Atsushi Taninaka ◽  
Katsunori Tanaka ◽  
Daichi Cho ◽  
...  
Keyword(s):  
Atomic Force Microscopy ◽  
Force Control ◽  
Force Spectroscopy ◽  
Dynamic Force ◽  
Atomic Force Microscopy Probe ◽  
Dynamic Force Spectroscopy ◽  
Force Microscopy ◽  
Spectroscopy Measurement ◽  
Atomic Force

scholarly journals Design of Nominal Parameters for Robust Sensorless Force Control Based on Disturbance Observer

2019 ◽  
Vol 8 (2) ◽  
pp. 342-351 ◽  
Author(s):  
Hiroki Kurumatani ◽  
Seiichiro Katsura
Keyword(s):  
Force Control ◽  
Disturbance Observer

Position and Force Control of Two CRS A460 Robots Manipulating a Flexible Sheet: Theory and Experiment

1998 ◽  
Vol 120 (4) ◽  
pp. 529-533 ◽  
Author(s):  
Dong Sun ◽  
James K. Mills
Keyword(s):  
Force Control ◽  
Industrial Robots ◽  
Pd Control ◽  
Hybrid Controller ◽  
Position Feedback ◽  
Proper Design ◽  
First Time ◽  
Theory And Experiment

It is verified in theory and experiment that through proper design of the control gains, the simple PD position feedback can control a flexible sheet manipulated by two industrial robots to a desired position while regulating its deformations at the contacts to zero. The offsets of all static deformations of the sheet with reference to the original positions decay to zero. A hybrid controller is further developed to control the motion of the sheet as well as its interactions with the manipulators by adding a force feedforward term to the PD scheme. This is the first time that conventional PD control has been shown to be applicable for use in the manipulation of flexible payload.

Ramp-and-Hold Force Control in the Upper and Lower Lips

1990 ◽  
Vol 33 (4) ◽  
pp. 660-675 ◽  
Author(s):  
Steven M. Barlow ◽  
Mary K. Burton
Keyword(s):  
Force Control ◽  
Preliminary Investigation ◽  
Motor Impairment ◽  
Absolute Maximum ◽  
Dynamic Force ◽  
Force Level ◽  
Lower Lip ◽  
Target Force ◽  
Normal Adults ◽  
Lip Force

The relation among several parameters of the ramp-and-hold force contraction and target force level was quantified for the upper and lower lip in 40 normal adults and in 4 young adults who had sustained traumatic brain injury (TBI). Using visual feedback, subjects produced ramp-and-hold compression lip forces as rapidly and accurately as possible to end-point target levels ranging from 0.25 to 2.00 newtons. In normal adults, significant positive linear relations were found between the parameters of the ramp-and-hold lip force task and target force level, including the peak rate of force change, peak force, and the mean and standard deviation of force during the hold phase. Though males and females have been shown to differ greatly on absolute maximum force-generating capabilities, they are virtually identical on the measures used to quantify the lip force ramp-and-hold task over the range of compression forces studied. Preliminary investigation of lip force control in 4 TBI subjects suggests that these quantitative measures are useful in determining the distribution and nature of motor impairment between the upper and lower lips during a dynamic force control task.

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