東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

Force controlled robots: Design, an...

Roy, Jaydeep.

Linked to FindBook

Google Book

Amazon

博客來

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

Record Type:	Electronic resources : Monograph/item
Title/Author:	Force controlled robots: Design, analysis, control, and applications./
Author:	Roy, Jaydeep.
Description:	194 p.
Notes:	Source: Dissertation Abstracts International, Volume: 62-10, Section: B, page: 4749.
Contained By:	Dissertation Abstracts International62-10B.
Subject:	Engineering, Mechanical. -
Online resource:	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.
LDR:02918nmm 2200289 4500 001 1853085
005 20040407102506.5
008 130614s2002 eng d
020 $a 0493404953
035 $a (UnM)AAI3028326
035 $a AAI3028326
040 $a UnM $c UnM
100 1 $a Roy, Jaydeep. $3 1940956
245 1 0 $a Force controlled robots: Design, analysis, control, and applications.
300 $a 194 p.
500 $a Source: Dissertation Abstracts International, Volume: 62-10, Section: B, page: 4749.
500 $a Adviser: Louis L. Whitcomb.
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).
590 $a School code: 0098.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, System Science. $3 1018128
650 4 $a Engineering, Biomedical. $3 1017684
690 $a 0548
690 $a 0790
690 $a 0541
710 2 0 $a The Johns Hopkins University. $3 1017431
773 0 $t Dissertation Abstracts International $g 62-10B.
790 1 0 $a Whitcomb, Louis L., $e advisor
790 $a 0098
791 $a Ph.D.
792 $a 2002
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3028326