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- Johansson, Rolf, et al.
(författare)
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Force Control
- 2015
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Ingår i: Handbook of Manufacturing Engineering and Technology. - London : Springer London. - 9781447146698 - 9781447146704 ; , s. 1933-1965
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Bokkapitel (refereegranskat)abstract
- Robotic force control refers to the control and programmable specification of the interaction forces between a robot end effector and the work object, where either the end effector or the work object is attached to the robot manipulator. A rudimentary approach is to consider the joint torques and controlled variables, and then to compute those torques such that a presumably rigid manipulator effectuates the desired forces. In practice, however, manipulators are not rigid, joint torques are accomplished from servo-controlled motors via joint transmissions with nonlinear dynamics, the control structure has to obey stake-holder aspects in industry. Based on algorithmic insights and experiences from industrial applications, the force control topic is explained with core scientific approaches as the starting point, then extending the descriptions such that the industrial aspects are covered via established principles for joint servo control.
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| 3. |
- Wang, Lihui, et al.
(författare)
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Preface
- 2009
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Ingår i: Collaborative Design and Planning for Digital Manufacturing. - : Springer London. - 9781848822863 ; , s. v-vii
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Bokkapitel (refereegranskat)
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| 4. |
- Wang, Lihui, et al.
(författare)
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Sustainable cybernetic manufacturing
- 2019
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Ingår i: International Journal of Production Research. - : TAYLOR & FRANCIS LTD. - 0020-7543 .- 1366-588X. ; 57:12, s. 3799-3801
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Tidskriftsartikel (övrigt vetenskapligt/konstnärligt)
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| 5. |
- Wang, Lihui, et al.
(författare)
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Vision-guided active collision avoidance for human-robot collaborations
- 2013
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Ingår i: Manufacturing Letters. - : Elsevier. - 2213-8463. ; 1:1, s. 5-8
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Tidskriftsartikel (refereegranskat)abstract
- This paper reports a novel methodology of real-time active collision avoidance in an augmented environment, where virtual 3D models of robots and real camera images of operators are used for monitoring and collision detection. A prototype system is developed and linked to robot controllers for adaptive robot control, with zero robot programming for end users. According to the result of collision detection, the system can alert an operator, stop a robot, or modify the robot's trajectory away from an approaching operator. Through a case study, it shows that this method can be applied to real-world applications such as human-robot collaborative assembly to safeguard human operators.
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