Task-oriented base position estimation for mobile TCM massage robot

Author(s):  
Gang He ◽  
Qi Sheng ◽  
Lei Hua ◽  
Xinjun Sheng
Author(s):  
Loris Roveda ◽  
Federico Vicentini ◽  
Nicola Pedrocchi ◽  
Lorenzo Molinari Tosatti ◽  
Francesco Braghin

The paper defines impedance control based control laws for interaction tasks with environments of unknown geometrical and mechanical properties, both considering manipulators mounted on A) rigid and B) compliant bases. In A) a deformation-tracking strategy allows the control of a desired deformation of the target environment. In B) a force-tracking strategy allows the control of a desired interaction force. In both A) and B) the on-line estimation of the environment stiffness is required. Therefore, an Extended Kalman Filter is defined. In B) the on-line estimation of the robot base position is used as a feedback in the control loop. The compliant base is modelled as a second-order physical system with known parameters (offline identification) and the base position is estimated from the measure of interaction forces. The Extended Kalman Filter, the grounding position estimation and the defined control laws are validated in simulation and with experiments, especially dedicated to an insertion-assembly task with A) time-varing stiffness environment and B) constant stiffness environment.


Author(s):  
V.V. Rybin ◽  
E.V. Voronina

Recently, it has become essential to develop a helpful method of the complete crystallographic identification of fine fragmented crystals. This was maainly due to the investigation into structural regularity of large plastic strains. The method should be practicable for determining crystallographic orientation (CO) of elastically stressed micro areas of the order of several micron fractions in size and filled with λ>1010 cm-2 density dislocations or stacking faults. The method must provide the misorientation vectors of the adjacent fragments when the angle ω changes from 0 to 180° with the accuracy of 0,3°. The problem is that the actual electron diffraction patterns obtained from fine fragmented crystals are the superpositions of reflections from various fragments, though more than one or two reflections from a fragment are hardly possible. Finally, the method should afford fully automatic computerized processing of the experimental results.The proposed method meets all the above requirements. It implies the construction for a certain base position of the crystal the orientation matrix (0M) A, which gives a single intercorrelation between the coordinates of the unity vector in the reference coordinate system (RCS) and those of the same vector in the crystal reciprocal lattice base : .


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