Compliance Control and Design for Intelligent Lunar Robot

Author(s):  
R. H. Li ◽  
Q. L. Fan ◽  
X. J. Zhang ◽  
Y. Zhang
Keyword(s):  
2013 ◽  
Vol 43 (1) ◽  
pp. 47-60
Author(s):  
Mihail Tsveov ◽  
Dimitar Chakarov

Abstract In the paper, different approaches for compliance control for human oriented robots are revealed. The approaches based on the non- antagonistic and antagonistic actuation are compared. In addition, an approach is investigated in this work for the compliance and the position control in the joint by means of antagonistic actuation. It is based on the capability of the joint with torsion leaf springs to adjust its stiffness. Models of joint stiffness are presented in this paper with antagonistic and non-antagonistic influence of the spring forces on the joint motion. The stiffness and the position control possibilities are investigated and the opportunity for their decoupling as well. Some results of numerical experiments are presented in the paper too.


2007 ◽  
Vol 6 (2-3) ◽  
pp. 133-151 ◽  
Author(s):  
J. G. Cederquist ◽  
R. Corin ◽  
M. A. C. Dekker ◽  
S. Etalle ◽  
J. I. den Hartog ◽  
...  
Keyword(s):  

2013 ◽  
Vol 10 (6) ◽  
pp. 506-514
Author(s):  
Shuang Gu ◽  
Cheng-Dong Wu ◽  
Yong Yue ◽  
Carsten Maple ◽  
Da-You Li ◽  
...  

1992 ◽  
Vol 25 (8) ◽  
pp. 663-670
Author(s):  
Dimitar Chakarov ◽  
Kostadin Kostadinoff

2020 ◽  
Vol 53 (2) ◽  
pp. 8538-8545
Author(s):  
Kim D. Listmann ◽  
Florian Hans ◽  
Arne Wahrburg

2021 ◽  
Vol 17 (8) ◽  
pp. 1491-1518
Author(s):  
Vilena A. YAKIMOVA ◽  
Viktor S. RADOMSKII

Subject. The article focuses on organizational and methodological issues of internal compliance control in e-commerce businesses. Objectives. We refine the design and technique of internal compliance control for e-commerce businesses. Methods. The study relies upon methods of analysis and generalization, grouping, systematization, risk-based, systems and business process approaches. Results. We devised the five-component compliance control sysem, determined its principles and functions ensuring the economic security of e-commerce businesses. We suggest conducting compliance procedures intended to mitigate IT risks and accounting for the specifics of e-commerce business processes. Conclusions and Relevance. In e-commerce, compliance control serves for identifying and monitoring compliance risks, ensuring safe operations of businesses, which is vital for people. The information system for IT risk protection was found to underlie compliance control, while control procedures can be classified into general and applied. The findings can be used to set up a reliable and effective compliance system for e-commerce businesses in order to prevent economic abuses and crime.


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