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Interaction control of an UAV endowed with a manipulator

Jasper L.J. Scholten, Matteo Fumagalli, Stefano Stramigioli, Raffaella Carloni
2013 2013 IEEE International Conference on Robotics and Automation  
The goal of this work is to show that the interaction control allows the manipulator to track a desired force, normal to a vertical wall, while still maintaining the possibility of moving on the wall.  ...  In this paper, we present the design, simulation and experimental validation of a control architecture for an unmanned aerial vehicle endowed with a manipulation system and interacting with a remote environment  ...  The authors are with the CTIT Institute, Dept. of Electrical Engineering, Univ. of Twente, The Netherlands. Email:, {m.fumagalli, s.stramigioli, r.carloni}  ... 
doi:10.1109/icra.2013.6631278 dblp:conf/icra/ScholtenFSC13 fatcat:pcagogfzyfaknjjfayz3iqtq7u

2020 Index IEEE/ASME Transactions on Mechatronics Vol. 25

2020 IEEE/ASME transactions on mechatronics  
Friction Identification for Industrial Manipulators; TMECH June 2020 1589-1599 Inyang-Udoh, U., Guo, Y., Peters, J., Oomen, T., and Mishra, S., Layer-to-Layer Predictive Control of Inkjet 3-D Printing  ...  ; TMECH Aug. 2020 1783-1793 Iordachita, I., see He, C., TMECH Dec. 2020 2846-2857 Iqbal, A., Gao, Y., and Gu, Y., Provably Stabilizing Controllers for Quadrupedal Robot Locomotion on Dynamic Rigid Platforms  ...  ., +, TMECH Feb. 2020 217-228 Design and Force-Tracking Impedance Control of 2-DOF Wall-Cleaning Manipulator via Disturbance Observer.  ... 
doi:10.1109/tmech.2021.3049586 fatcat:k4ngjuvq7jc6pgfoh6irwtkvfi

Iterative Autonomous Excavation [chapter]

Guilherme J. Maeda, David C. Rye, Surya P. N. Singh
2013 Springer Tracts in Advanced Robotics  
Field experiments show that a disturbance compensated controller is able to maintain convergence, and that a 2-DOF feedforward controller based on free motion inverse dynamics may not converge due to limited  ...  This paper introduces a Cartesian impedance control framework in which reaction forces exceeding control authority directly reshape bucket motion during successive excavation passes.  ...  Acknowledgements The authors thank Pak Hung (Victor) Chan for his support with the experimental platform and Javier Martinez and Seong Ho Lee for their assistance during experiments.  ... 
doi:10.1007/978-3-642-40686-7_25 fatcat:kvzm6igs65gqffiez7poh6asse

Time-Delayed Output Feedback Bilateral Teleoperation With Force Estimation for $n$-DOF Nonlinear Manipulators

John M. Daly, David W. L. Wang
2014 IEEE Transactions on Control Systems Technology  
Central to the approach presented in this work is the use of second order sliding mode unknown input observers for estimating the external forces acting on the manipulators.  ...  observers are used for state and force estimation.  ...  A sliding mode controller is used at the slave side to ensure a desired closed loop impedance and tracking of the delayed master trajectory.  ... 
doi:10.1109/tcst.2013.2242329 fatcat:5yo3xil5ona2zp7ywocyojbd64

2021 Index IEEE/ASME Transactions on Mechatronics Vol. 26

2021 IEEE/ASME transactions on mechatronics  
The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  The Subject Index contains entries describing the item under all appropriate subject headings, plus the first author's name, the publication abbreviation, month, and year, and inclusive pages.  ...  ., +, TMECH Feb. 2021 539-550 Sliding-Mode-Disturbance-Observer-Based Robust Tracking Control for Omnidirectional Mobile Robots With Kinematic and Dynamic Uncertainties.  ... 
doi:10.1109/tmech.2022.3141226 fatcat:xzamfdzhofblrdegiw7iqkjffq

Underwater manipulators: A review

Satja Sivčev, Joseph Coleman, Edin Omerdić, Gerard Dooly, Daniel Toal
2018 Ocean Engineering  
It provides a comprehensive summary of existing commercial and prototype underwater manipulators, covering relevant aspects such as design features, their capabilities and merits, and provides a detailed  ...  A brief introduction is given on the use of manipulators in various offshore industries for different subsea intervention applications.  ...  The MaREI project is also supported by the following industrial partners: Resolve Marine Group, Shannon Foynes Port Company, Teledyne Blueview, Teledyne Reason and The Commissioners of Irish Lights.  ... 
doi:10.1016/j.oceaneng.2018.06.018 fatcat:gxrjmo2ei5ar3lnvbvvyiqowsq

A Survey on Techniques and Applications of Window-Cleaning Robots

Zhenjing Li, Qingsong Xu, Lap Mou Tam
2021 IEEE Access  
The survey provides a reference for the readers to design and develop a window-cleaning robot for specific application.  ...  Maintaining a clean living and working environment is an important means to ensure people's quality of life.  ...  To improve the force tracking capability of the cleaning unit, Kim et al. reported a control strategy by combining the disturbance observer and sliding mode control [125] .  ... 
doi:10.1109/access.2021.3103757 fatcat:vuckjgsmdraknb2kaeq7xb75r4

Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview

Hayder F. N. Al-Shuka, Steffen Leonhardt, Wen-Hong Zhu, Rui Song, Chao Ding, Yibin Li
2018 Applied Bionics and Biomechanics  
It involves an energetic pair of a flow and an effort, instead of controlling a single position or a force. A mass-spring-damper impedance filter is generally used for safe interaction purposes.  ...  Extended control schemes include admittance control with force tracking, variable impedance control, and impedance control of flexible joints.  ...  Its value could be negative or time varying according to the proposition of the authors. Kim et al. [69] used position-based impedance control for force tracking of a wall-cleaning unit.  ... 
doi:10.1155/2018/8203054 pmid:30420899 pmcid:PMC6211161 fatcat:d442meuexvf33i347j5dm7v7h4

A review of technological and clinical aspects of robot-aided rehabilitation of upper-extremity after stroke

Mahdieh Babaiasl, Seyyed Hamed Mahdioun, Poorya Jaryani, Mojtaba Yazdani
2015 Disability and Rehabilitation: Assistive Technology  
This article summarizes a review done along with a research on the design, simulation and control of a robot for use in upper-limb rehabilitation after stroke. ä Implications for Rehabilitation Reviewing  ...  Robot-aided rehabilitation is more intensive, of longer duration and more repetitive. Using robots, repetitive dull exercises can turn into a more challenging and motivating tasks such as games.  ...  Declaration of interest The authors declare no conflict of interests. The authors alone are responsible for the content and writing of this article.  ... 
doi:10.3109/17483107.2014.1002539 pmid:25600057 fatcat:g4itmjm3qfh6tnvg2h5favy6vi

Novel Force Estimation-based Bilateral Teleoperation applying Type-2 Fuzzy logic and Moving Horizon Estimation [article]

Qianfang Liao, Da Sun, Hongliang Ren
2018 arXiv   pre-print
A force-reflection four-channel teleoperation control laws is also proposed that involving the observed environmental and human force to provide the highly accurate force tracking between the master and  ...  Type-2 fuzzy logic is used to describe the overall dynamic system, and Moving Horizon Estimation (MHE) is employed to assess clean states as well as the values of dynamic uncertainties, and simultaneously  ...  Combined with the designed force observer, we use the following 4-channel control laws (36)- (37) to evaluate the force reflection performance of the designed force observer. ( ) = (̂( − 2 ( ) ) −̂(  ... 
arXiv:1805.06634v1 fatcat:h4qzlkvkxfgtvlh6mqdxffe2le

Review of Aerial Manipulator and its Control

Xu Wei-hong, Cao Li-jia, Zhong Chun-lai
2021 International Journal of Robotics and Control Systems  
The aerial manipulator is a new type of aerial robot with active operation capability, which is composed of a rotary-wing drone and an actuator.  ...  The main results of the aerial manipulator system and corresponding dynamic modeling and control are reviewed, and its problems are summarized and prospected.  ...  [47] proposed an active fault-tolerant control method for a flying manipulator based on a non-singular terminal sliding mode and an extended state observer.  ... 
doi:10.31763/ijrcs.v1i3.363 fatcat:hqy4qh7srfcj3bbvokhgpyeh2q

Robot Control Overview: An Industrial Perspective

T. Brogårdh
2009 Modeling, Identification and Control  
Model-based control, including kinematics error compensation, optimal servo reference-and feed-forward generation, and servo design, tuning, and scheduling, has meant a breakthrough for the use of robots  ...  In the future it is expected that the importance of sensor control will increase, both with respect to sensors in the robot structure to increase the control performance of the robot itself and sensors  ...  More elaborated servo loops can be implemented using design based on for example LQG, QFT, H ∞ or Sliding mode.  ... 
doi:10.4173/mic.2009.3.7 fatcat:o56upyszknafdgvzj2gyr5exmq

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

Jamshed Iqbal, Ali Al-Zahrani, Soltan Abed Alharbi, Anas Hashmi
2019 IEEE Access  
The domain of Robotics is a good partner of renewable energy and is becoming critical to the sustainability and survival of the energy industry.  ...  Instrumental opportunities and challenges of robot deployment in the renewable sector are also discussed with a brief case study of Saudi Arabia.  ...  A study reported in [135] presents an optimized design of a solar tracking system based on a 2-DOF robot with a parallel mechanism.  ... 
doi:10.1109/access.2019.2957013 fatcat:wualmb7vx5ajvhkcx4dvld3cke

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
Typesetting: Camera-ready by Contributors SPIN 10717447 543210 (Robotics Society of Japan) and SICE (Society of Instr. and Control Engineers of Japan).  ...  The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or  ...  Acknowledgements This research is part of a research programme funded by the New Zealand Foundation for Research Science and Technology, New Zealand, project UOO808.  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Thibault Sénac, Arnaud Lelevé, Richard Moreau, Cyril Novales, Laurence Nouaille, Minh Tu Pham, Pierre Vieyres
2019 Multimodal Technologies and Interaction  
Trainees can now practice in virtual environments representing various kind of patient and body parts including physio-pathologies issues.  ...  However, it presents two main drawbacks: nonlinear dynamics and need for a compressed air supply.  ...  An other improvement can be performed by adding a robust observer for the external disturbance force.  ... 
doi:10.3390/mti3030047 fatcat:ouwuirhpajcobl44upf3c6isly
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