3211 Development of Gripping Force Control System for Miniature Robot Hand Utilizing Holding Torque of Ultrasonic Motor

2007 ◽  
Vol 2007.7 (0) ◽  
pp. 271-272
Author(s):  
Hiroki ANDO ◽  
Shun HOSAKA ◽  
Naoki MURAMATSU
Keyword(s):  
Control System ◽  
Force Control ◽  
Ultrasonic Motor ◽  
Robot Hand ◽  
Force Control System ◽  
Gripping Force ◽  
Miniature Robot

Design of force control system using tendon-driven mechanism including linear springs and ultrasonic motor

2018 ◽  
Vol 205 (1) ◽  
pp. 36-45 ◽  
Author(s):  
Daiki Yonemoto ◽  
Daisuke Yashiro ◽  
Kazuhiro Yubai ◽  
Satoshi Komada
Keyword(s):  
Control System ◽  
Force Control ◽  
Ultrasonic Motor ◽  
Force Control System

Design of Force Control System Using Tendon-driven Mechanism Including Linear Springs and Ultrasonic Motor

2018 ◽  
Vol 138 (4) ◽  
pp. 298-305
Author(s):  
Daiki Yonemoto ◽  
Daisuke Yashiro ◽  
Kazuhiro Yubai ◽  
Satoshi Komada
Keyword(s):  
Control System ◽  
Force Control ◽  
Ultrasonic Motor ◽  
Force Control System

Nanotweezers with Proximity Sensing and Gripping Force Control System

2009 ◽  
Vol 48 (8) ◽  
pp. 08JB21 ◽  
Author(s):  
Takeshi Umemoto ◽  
Kenjiro Ayano ◽  
Masato Suzuki ◽  
Masatoshi Yasutake ◽  
Takashi Konno ◽  
...  
Keyword(s):  
Control System ◽  
Force Control ◽  
Force Control System ◽  
Gripping Force ◽  
Proximity Sensing

A Control Method for Robot Fingers with Three-Axis Force Sensor

2014 ◽  
Vol 614 ◽  
pp. 175-178
Author(s):  
Ming Hua Luo ◽  
Chun Wei Pan ◽  
Xiu Wen Yang ◽  
Xin Hua Luo
Keyword(s):  
Control System ◽  
Force Control ◽  
Force Feedback ◽  
Control Method ◽  
Dynamic Balance ◽  
Force Sensor ◽  
Robot Hand ◽  
Closed Loops ◽  
Force Control System ◽  
Grasping Force

This paper proposed a new grasping method for robot fingers with three-axis force sensors. When a robot hand with two fingers is grasping an object, such as an egg, two closed loops with negative feedback in force-control system are start. When grasping force of the two fingers are equal reference force, dynamic balance is reached. Once tiny sliding between egg and finger occurred, force feedback start immediately, dynamic balance is reached again. In this way, our robot hand can firmly grasps eggs, even if vibration added on the robot hand.

Effect of Inner and Outer Wheels Driving Force Control on Small Electric Vehicle

2020 ◽  
Vol 17 (4) ◽  
pp. 8246-8254
Author(s):  
K. Shibazaki ◽  
H. Nozaki
Keyword(s):  
Control System ◽  
Angular Velocity ◽  
Electric Vehicle ◽  
Force Constant ◽  
Force Control ◽  
Driving Force ◽  
Vehicle Control ◽  
Steering Angle ◽  
Force Control System ◽  
The Difference

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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