Dragging motion of a two-link mobile manipulator with large pull force through singular configuration: theoretical analysis and experimental verification

2018 ◽  
Vol 32 (11) ◽  
pp. 623-634
Author(s):  
Takateru Urakubo ◽  
Eri Kitagawa ◽  
Xianglong Wan ◽  
Tomoaki Mashimo
Keyword(s):  
Theoretical Analysis ◽  
Experimental Verification ◽  
Mobile Manipulator ◽  
Pull Force ◽  
Singular Configuration

STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

2011 ◽  
Vol 08 (03) ◽  
pp. 181-195
Author(s):  
ZHAOXIAN XIE ◽  
HISASHI YAMAGUCHI ◽  
MASAHITO TSUKANO ◽  
AIGUO MING ◽  
MAKOTO SHIMOJO
Keyword(s):  
Fuzzy Logic ◽  
Feedback Control ◽  
Experimental Verification ◽  
High Speed ◽  
Center Of Pressure ◽  
Tactile Sensor ◽  
Mobile Manipulator ◽  
Tactile Sensing ◽  
Robot Arm ◽  
Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

Theoretical analysis and experimental verification of the improved subsurface drainage discharge with ponded water

2019 ◽  
Vol 213 ◽  
pp. 546-553 ◽  
Author(s):  
Yuan Tao ◽  
Shaoli Wang ◽  
Di Xu ◽  
Xiaoyan Guan ◽  
Mengzhe Ji ◽  
...  
Keyword(s):  
Theoretical Analysis ◽  
Experimental Verification ◽  
Subsurface Drainage

Study on Re-pull Force in Pultrusion Processes—II. Theoretical Analysis

2004 ◽  
pp. 840-845
Author(s):  
Meng LU ◽  
Lin Ye ◽  
Yiu Wing Mai ◽  
Cherryn Smith ◽  
Brent Johnstone
Keyword(s):  
Theoretical Analysis ◽  
Pull Force
Sign in / Sign up

Export Citation Format

Share Document