23 search results - page 1 / 5 » Velocity-Bounding Stiff Position Controller |
IROS
2006
IEEE
13 years 10 months ago
2006
IEEE
— High-gain PID position control, which is widely used with robots having complex dynamics, involves some risks in cases of abnormal events, such as unexpected environment contac...
CORR
2010
Springer
13 years 1 months ago
2010
Springer
Abstract. The paper presents a methodology for the enhanced stiffness analysis of parallel manipulators with internal preloading in passive joints. It also takes into account influ...
HAPTICS
2007
IEEE
13 years 11 months ago
2007
IEEE
Both haptic and visual senses play a role in how we explore our environment. Previous studies have shown that vision plays a very strong role in perception of object stiffness, ye...
ICRA
2003
IEEE
13 years 9 months ago
2003
IEEE
— When the end-effector of a robot is slid on a flat surface, the stiffness matrix obtained by linear fitting of position and force contains information not only on the stiffne...
ICRA
2010
IEEE
13 years 3 months ago
2010
IEEE
— After briefly summarizing the mechanical design of the two joint prototypes for the new DLR variable compliance arm, the paper exemplifies the dynamic modelling of one of the...