Titlebook: Experimental Robotics I; The First Internatio Vincent Hayward,Oussama Khatib Conference proceedings 1990 Springer-Verlag Berlin Heidelberg

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极大痛苦

Hidden Markov Model analysis of force/torque information in telemanipulation,rithm is used for model based analysis of force signals measured during experimental teleoperation and achieves excellent segmentation of the data into sub-goal phases. The Hidden Markov Model achieves a structured, knowledge based model with explicit uncertainties and mature optimal identification algorithms.

实现

Experimental studies of adaptive manipulator control,riate recursive algorithms for both joint-space and direct cartesian space control. This paper summarizes the implementation and gives experimental results, performed on a 4-degrees-of-freedom articulated robot arm, verifying the performance of the controller.

Grievance

Modeling and analysis of a high-torque, hydrostatic actuator for robotic applications,urately measured and controlled. An analog control system is used to achieve a desired force output, and a digital compensator is used to obtain position control. Modeling, simulations, and experiments are presented to describe the system and its capabilities.

使腐烂

On a unified concept for a new generation of light-weight robots,— as well as the gripper drives — are based on a complete redesign of the control system of commercially available stepping motors that turns them into electronically commutated high-speed and highly dynamics dc-motors, and a new type of light, compact gearing with reduction rates of 600 and more easily achievable.

皱痕

上涨

nd point position measurement, but estimates this position from the measured motor angle and strain gauge signals. Acceleration feedforward is introduced in the state feedback controller to reduce tracking errors to negligible values. Integral control eliminates positioning errors caused by nonlinear motor friction.

的阐明

https://doi.org/10.1007/978-3-642-52587-2By tuning the mechanical parameters of the system and choosing appropriate initial conditions, we find reentrant trajectories for the system that coordinate the vertical body motions with the leg sweeping motions, and that accommodate ground interaction constraints. Data are presented from a computer simulation of the model.