Design of the 6-axis Compliance Device with F/T Sensing for Robotic Force Control Applications

Author(s):  
Han Sung Kim
Author(s):  
Kai Feng ◽  
Guilin Yang ◽  
Ciyuan Xiong ◽  
Renfeng Zhu ◽  
Junjie Dai ◽  
...  

1989 ◽  
Vol 111 (2) ◽  
pp. 299-306 ◽  
Author(s):  
A. S. Pannala ◽  
P. Dransfield ◽  
M. Palaniswami ◽  
J. H. Anderson

In multi-actuator powered control applications, load coupling can cause severe interactions between the actuators. It is possible to reduce such interactions by incorporating suitable controller actions. The paper concerns a two-actuator electrohydraulic force-control system. A computer-aided procedure involving multi-variable frequency response techniques to help design controller action is presented. Experimental evidence which confirms the effectiveness of simple controllers arrived at by this approach is presented.


2004 ◽  
Author(s):  
Gloria L. Calhoun ◽  
John V. Fontejon ◽  
Mark H. Draper ◽  
Heath A. Ruff ◽  
Brian J. Guilfoos
Keyword(s):  

2008 ◽  
Vol 35 (S 01) ◽  
Author(s):  
Y Li ◽  
J Randerath ◽  
G Goldenberg ◽  
J Hermsdörfer

2005 ◽  
Vol 32 (S 4) ◽  
Author(s):  
F Kirsten ◽  
S Bohlen ◽  
J Sommer ◽  
T Merl ◽  
P Saemann ◽  
...  

Author(s):  
K. Shibazaki ◽  
H. Nozaki

In this study, in order to improve steering stability during turning, we devised an inner and outer wheel driving force control system that is based on the steering angle and steering angular velocity, and verified its effectiveness via running tests. In the driving force control system based on steering angle, the inner wheel driving force is weakened in proportion to the steering angle during a turn, and the difference in driving force is applied to the inner and outer wheels by strengthening the outer wheel driving force. In the driving force control (based on steering angular velocity), the value obtained by multiplying the driving force constant and the steering angular velocity,  that differentiates the driver steering input during turning output as the driving force of the inner and outer wheels. By controlling the driving force of the inner and outer wheels, it reduces the maximum steering angle by 40 deg and it became possible to improve the cornering marginal performance and improve the steering stability at the J-turn. In the pylon slalom it reduces the maximum steering angle by 45 deg and it became possible to improve the responsiveness of the vehicle. Control by steering angle is effective during steady turning, while control by steering angular velocity is effective during sharp turning. The inner and outer wheel driving force control are expected to further improve steering stability.


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