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Force controlled robots: Design, an...

Roy, Jaydeep.

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Force controlled robots: Design, analysis, control, and applications.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Force controlled robots: Design, analysis, control, and applications./
作者:	Roy, Jaydeep.
面頁冊數:	194 p.
附註:	Source: Dissertation Abstracts International, Volume: 62-10, Section: B, page: 4749.
Contained By:	Dissertation Abstracts International62-10B.
標題:	Engineering, Mechanical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3028326
ISBN:	0493404953

Force controlled robots: Design, analysis, control, and applications.
Roy, Jaydeep.

Force controlled robots: Design, analysis, control, and applications. - 194 p.

Source: Dissertation Abstracts International, Volume: 62-10, Section: B, page: 4749.

Thesis (Ph.D.)--The Johns Hopkins University, 2002.

This thesis addresses three related topics in robotic force control. The first topic is the mechanical design of force controlled robots. A finite-element-analysis-based method is employed for the structural design optimization and comparative analysis of robotic manipulators for force control applications. A new high performance robotic arm is designed and built using this method. Extensive experiments quantify the position tracking performance of the arm and compare its dynamic characteristics to those predicted by finite element simulations. The second topic addressed is the (force) control of robots that interact with the environment. Four new provably stable hybrid force/position controllers (two adaptive and two non-adaptive) are reported for robotic manipulators in contact with both hard and soft environments. All four controllers are globally asymptotically stable in force and position trajectory tracking and separately address the cases of the control of high performance (torque controlled) robots and traditional (position controlled) robots. The two adaptive force controllers estimate the plant and environmental inertial, friction, and compliance parameters on-line and are globally stable in parameter convergence. The two new controllers that address the force control of traditional position controlled robots are implemented on a real-world robotic system and their performance is experimentally validated and compared to that of previously reported position based force control algorithms. The third topic is the theoretical and experimental development of a novel force control application called force scaling. Force scaling uses the adaptive force control algorithms developed in the second part of the thesis to enhance human tactile feedback during fine manipulation tasks. Force scaling is then implemented on a microsurgical assistant robot to improve measured performance outcomes of the real-world microsurgical procedure of stapedotomy (middle ear stapes surgery).

ISBN: 0493404953Subjects--Topical Terms:

783786
Engineering, Mechanical.

Force controlled robots: Design, analysis, control, and applications.
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502 $a Thesis (Ph.D.)--The Johns Hopkins University, 2002.
520 $a This thesis addresses three related topics in robotic force control. The first topic is the mechanical design of force controlled robots. A finite-element-analysis-based method is employed for the structural design optimization and comparative analysis of robotic manipulators for force control applications. A new high performance robotic arm is designed and built using this method. Extensive experiments quantify the position tracking performance of the arm and compare its dynamic characteristics to those predicted by finite element simulations. The second topic addressed is the (force) control of robots that interact with the environment. Four new provably stable hybrid force/position controllers (two adaptive and two non-adaptive) are reported for robotic manipulators in contact with both hard and soft environments. All four controllers are globally asymptotically stable in force and position trajectory tracking and separately address the cases of the control of high performance (torque controlled) robots and traditional (position controlled) robots. The two adaptive force controllers estimate the plant and environmental inertial, friction, and compliance parameters on-line and are globally stable in parameter convergence. The two new controllers that address the force control of traditional position controlled robots are implemented on a real-world robotic system and their performance is experimentally validated and compared to that of previously reported position based force control algorithms. The third topic is the theoretical and experimental development of a novel force control application called force scaling. Force scaling uses the adaptive force control algorithms developed in the second part of the thesis to enhance human tactile feedback during fine manipulation tasks. Force scaling is then implemented on a microsurgical assistant robot to improve measured performance outcomes of the real-world microsurgical procedure of stapedotomy (middle ear stapes surgery).
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