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Dissertations / Theses on the topic 'Robust force control'

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Published: 4 June 2021

Last updated: 1 February 2022

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1

Marley, Mathias Huuse. "Modelling and Robust Control of Production Force of a Wave Energy Converter." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for marin teknikk, 2014. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-26357.

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Lifesaver is a point-absorber wave energy converter developed by Fred. Olsen. She is currently deployed off the coast of England for pre-commercial testing. Lifesaver consists of a toroidal floater supporting three Power-Take Off (PTO) units moored separately to the seabed. The mooring lines are kept taut by electrical generators.Large force oscillations have been encountered in the mooring lines during testing. The source of force oscillations is identified as velocity fluctuations in the PTO drive train due to sudden saturation of generator torque. The unfavorable transient response is a res

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2

Osthus, Vegar. "Robust Adaptive Control of a Surface Vessel in Managed Ice Using Hybrid Position- and Force Control." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2014. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-25755.

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Studies done in recent years have shown a signicant decline in the coverage of arctic sea ice. This trend has made the Arctic more accessible and has resulted in expanded naval activity in this region. Furthermore, an increasing desire among international petroleum operators to extend their operations towards the Arctic have resulted in vast investments in the development of these areas.The increasing development of the oil and gas industry in the Arctic region makes riseto several challenges concerning navigation and control of the vessels operating in these waters. Although the trend shows a

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3

Dugenske, Andrew Donald. "An experimental investigation of a robust force control algorithm in the presence of a compliant environment." Thesis, Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/21509.

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4

Oliveira, Matheus Senna de. "Resonant gain scheduling controller for spiral scanning patterns in atomic force microscopy." Pontifícia Universidade Católica do Rio Grande do Sul, 2018. http://hdl.handle.net/10923/11738.

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Made available in DSpace on 2018-06-16T12:04:23Z (GMT). No. of bitstreams: 1 000488854-Texto+Completo-0.pdf: 2367932 bytes, checksum: 927039b4746ebdc5d7da25318435b24a (MD5) Previous issue date: 2018<br>This document presents a dissertation work regarding the study of control strategies for the efficient tracking of spiral patterns. Such patterns arise in many areas, as for example the Atomic Force Microscopy, where fast and smooth reference signals are required. In order to successfully track the above mentioned references, which are composed of amplitude and frequency-varying sinusoidal sig

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5

Wang, Ke. "Modélisation d'un robot manipulateur en vue de la commande robuste en force utilisé en soudage FSW." Thesis, Paris, ENSAM, 2016. http://www.theses.fr/2016ENAM0003/document.

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Le travail présenté dans cette thèse concerne la modélisation et la commande robuste en force de robots manipulateurs industriels à articulations flexibles utilisés pour le procédé FSW. Afin de réduire les temps de calcul et l'occupation de la mémoire, une approche basée sur la méthode par intervalle est proposée en vue de la simplification des modèles dynamiques des robots industriels, et contribue à identifier les paramètres d'inertie qui sont négligeables. Des études de cas sur trois types de trajectoires de test et l’analyse des couples moteurs ont démontré l'efficacité et les bonnes perfo

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6

Steven, Andrew. "Hybrid force and position control in robotic surface processing." Thesis, University of Newcastle Upon Tyne, 1989. http://hdl.handle.net/10443/657.

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This programme of research was supported by NEI Parsons Ltd. who sought a robotic means of polishing mechanical components. A study of the problems associated with robot controlled surface processing is presented. From this evolved an approach consistent with the formalisation of the demands of workpiece manipulation which included the adoption of the Hybrid robot control scheme capable of simultaneous force and position control. A unique 3 axis planar experimental manipulator was designed which utilized combined parallel and serial drives. A force sensing wrist was used to measure contact for

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7

Kotzev, Shmuel. "Hierarchical task decomposition and execution for robot manipulation task using a wrist force sensor." Thesis, University of British Columbia, 1990. http://hdl.handle.net/2429/29627.

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The research developed force-motion strategies and subsequent force and position control algorithms, using a PUMA 560 robot arm and its original controller. A task decomposition methodology has been developed that enables a mechanical assembly task to be subdivided into a series of executable subtasks. By applying this methodology to the assembly of a hydraulic gear pump, a library of special purpose, task oriented, subtask programs were created. Most of these programs, though derived for a pump assembly task, are applicable (when used with appropriate parameters) to other assembly tasks. Mo

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8

Racioppo, Peter Charles. "Design and Control of a Cable-Driven Articulated Modular Snake Robot." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/91983.

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This thesis presents the design and control of a cable-actuated mobile snake robot. The goal of this research is to reduce the size of snake robots and improve their locomotive efficiency by simultaneously actuating groups of links to fit optimized curvature profiles. The basic functional unit of the snake is a four-link, single degree of freedom module that bends using an antagonistic cable-routing scheme. Elastic elements in series with the cables and the coupled nature of the mechanism allow each module to detect and automatically respond to obstacles. The mechanical and electrical designs

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9

Mosesson, Maria, and Pär Aronssson. "Robot-Assisterad Gradningscell med Force Control." Thesis, KTH, Tillämpad maskinteknik (KTH Södertälje), 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-93962.

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10

Qin, Jinna. "Commande hybride position/force robuste d’un robot manipulateur utilisé en usinageet/ou en soudage." Thesis, Paris, ENSAM, 2013. http://www.theses.fr/2013ENAM0058/document.

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La problématique traitée dans cette thèse concerne la commande de robots manipulateurs industriels légèrement flexibles utilisés pour la robotisation de procédés d'usinage et de soudage FSW. Le premier objectif est la modélisation des robots et des procédés. Les modèles développés concernant la cinématique et la dynamique de robots 6 axes à architecture série et à flexibilité localisées aux articulations. Les paramètres du modèle dynamique et les raideurs sont identifiés avec la méthode à erreur de sortie qui donne une bonne précision d'estimation. La norme relative du résidu du modèle après i

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11

Palmer, Luther R. "Intelligent control and force redistribution for a high-speed quadruped trot." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1174570965.

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12

Borowski, Zbigniew Jan 1958 Carleton University Dissertation Engineering Aerospace. "Force control of a flexible joint robot." Ottawa.:, 1993.

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13

West, Jerry. "Orthoplanar Spring Based Compliant Force/Torque Sensor for Robot Force Control." Scholar Commons, 2017. http://scholarcommons.usf.edu/etd/6637.

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A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded faste

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14

Fikkan, Kristoffer. "Hybrid Force Motion Synchronization Control of Robot Manipulators." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2010. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9123.

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<p>The main objective of this thesis was to combine the theory on synchronization of robot manipulators with the concept of hybrid force/motion control; resulting in a controller capable of following both the trajectory of another robot and a desired force trajectory at the same time. This report includes a short introduction to synchronization theory for robot manipulators, and a more thorough summary of existing hybrid control schemes. An intuitive method for describing constraints caused by the environment is presented, and this leads to a straightforward way to separate the interactio

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15

Eppinger, Steven Daniel. "Modeling robot dynamic performance for endpoint force control." Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/14379.

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16

Du, Zhenyu. "Position and force control of cooperating robots using inverse dynamics." Thesis, University of Bath, 2015. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.655721.

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Multiple robot manipulators cooperating in a common manipulation task can accomplish complex tasks that a single manipulator would be unable to complete. To achieve physical cooperation with multiple manipulators working on a common object, interaction forces need to be controlled throughout the motion. The aim of this research is to develop an inverse dynamics model-based cooperative force and position control scheme for multiple robot manipulators. An extended definition of motion is proposed to include force demands based on a constrained Lagrangian dynamics and Lagrangian multipliers formu

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17

Fischer, P. J. "A novel input device for force control of robots." Thesis, University of Oxford, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.357415.

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18

Elibiary, Khalid. "Utilization of force feedback for A poultry cutting application." Thesis, Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/17849.

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19

Dongsheng, Han, and rising_sun_han@hotmail com. "Robust Control for Offshore Steel Jacket Platforms under Wave-Induced Forces." Central Queensland University. School of Computing Sciences, 2008. http://library-resources.cqu.edu.au./thesis/adt-QCQU/public/adt-QCQU20080717.104813.

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This thesis is concerned with robust control of an offshore steel jacket platform subject to nonlinear wave-induced forces. Since time delay and uncertainty are inevitably encountered for an offshore structure and their existence may induce instability, oscillation and poor performance, it is very significant to study on how the delay and uncertainty affect the offshore structure. In this thesis, a memory robust control strategy is, for the first time, proposed to reduce the internal oscillations of the offshore structure under wave-induced forces, so as to ensure the safety and comfort of the

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20

Isaksson, Robert. "Drilling with force feedback." Thesis, Linköping University, Automatic Control, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-20897.

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<p>Industrial robots have been used for a long time in the industry. Despite this thedevelopment of advanced force control system using industrial robots is relativelylimited. Using force controlled robot systems expands the possibility of what canbe done with industrial robots.Previously a force feedback system for a standard industrial robot from ABBhas been developed. The system is developed towards the aircraft industry, where amounted drill machine on the robot has to fulfill the requirements in robot drillingin aircraft structures. This thesis presents experimental results and improvemen

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21

Elghazaly, Gamal. "Hybrid cable thruster-actuated underwater vehicle manipulator system : modeling, analysis and control." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS067.

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L’industrie offshore, pétrolière et gazière est le principal utilisateur des robots sous-marins, plus particulièrement de véhicules télé-opérés (ou ROV, Remotely Operated Vehicle). L'inspection, la construction et la maintenance de diverses installations sous-marines font parties des applications habituelles des ROVs dans l’industrie offshore. La capacité à maintenir un positionnement stable du véhicule ainsi qu’à soulever et déplacer des charges lourdes est essentielle pour certaines de ces applications. Les capacités de levage des ROVs sont cependant limitées par la puissance de leur propuls

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22

Zhang, Zhongkai. "Vision-based calibration, position control and force sensing for soft robots." Thesis, Lille 1, 2019. http://www.theses.fr/2019LIL1I001/document.

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La modélisation de robots souples est extrêmement difficile, à cause notamment du nombre théoriquement infini des degrés de liberté. Cette difficulté est accentuée lorsque les robots ont des configurations complexes. Ce problème de modélisation entraîne de nouveaux défis pour la calibration et la conception des commandes des robots, mais également de nouvelles opportunités avec de nouvelles stratégies de détection de force possibles. Cette thèse a pour objectif de proposer des solutions nouvelles et générales utilisant la modélisation et la vision. La thèse présente dans un premier temps un mo

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23

Murphy, Mark A. "Implementation of telerobotic control architecture including force-reflection and the naturally-transitioning rate-to-force controller." Ohio : Ohio University, 1998. http://www.ohiolink.edu/etd/view.cgi?ohiou1176407520.

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24

Han, Jia-Yuan. "Stability, contact force and adaptive trajectory control of natural and robotic systems /." The Ohio State University, 1986. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487265143145521.

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25

Alici, GuÌˆrsel. "Robot force control for remote drilling in hazardous environments." Thesis, University of Oxford, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.335861.

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26

Sahirad, Mohammad. "Position and force control of direct drive robot arms." Thesis, Imperial College London, 1988. http://hdl.handle.net/10044/1/47240.

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27

Lee, Sooyong. "A perturbation/correlation approach to force-guided robot control." Thesis, Massachusetts Institute of Technology, 1996. http://hdl.handle.net/1721.1/38161.

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28

Flayols, Thomas. "Exploitation du Retour de Force pour l'Estimation et le Contrôle des Robots Marcheurs." Thesis, Toulouse, INSA, 2018. http://www.theses.fr/2018ISAT0025/document.

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Dans cette thèse, on s’intéresse à la commande des robots marcheurs. Contrôler ces systèmes naturellement instables, de dynamique non linéaire, non convexe, de grande dimension, et dépendante des contacts représente un défi majeur en robotique mobile. Les approches classiques formulent une chaîne de contrôle formée d’une cascade de sous problèmes tels que la perception, le planning, la commande du corps complet et l’asservissement articulaire. Les contributions rapportées ici ont toutes pour but d’introduire une rétroaction au niveau de la commande du corps complet ou du planning. Précisément,

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29

Barawkar, Shraddha. "Collaborative Transportation of a Common Payload using Two UAVs Based on Force Feedback Control." University of Cincinnati / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1505125636211596.

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30

沈向洋 and Heung-yeung Shum. "Adaptive motion and force control of robot manipulators with uncertainties." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1990. http://hub.hku.hk/bib/B3120997X.

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31

Shum, Heung-yeung. "Adaptive motion and force control of robot manipulators with uncertainties /." Hong Kong : [University of Hong Kong], 1990. http://sunzi.lib.hku.hk/hkuto/record.jsp?B12840403.

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32

Chung, Tae-Sang. "Force and compliance control for rough-terrain locomotion by multi-legged robot vehicles /." The Ohio State University, 1985. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487262825077357.

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33

Zhang, Bo. "Sur la commande à retour d'effort à travers des réseaux non dédiés : stabilisation et performance sous retards asymétriques et variables." Phd thesis, Ecole Centrale de Lille, 2012. http://tel.archives-ouvertes.fr/tel-00733141.

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Ce travail propose de nouvelles structures de contrôle pour la téléopération bilatérale à travers des réseaux de communication non dédiés. L'enjeu est donc de concevoir et calculer des structures de commande garantissant la stabilisation et un bon degré de performance en termes de synchronisation (suivi des positions et vitesse) et de transparence (ressenti des forces) sous les retards variables et asymétriques.Nous faisons tout d'abord un tour d'horizon des recherches récentes dans le domaine des systèmes de téléopération et de leurs caractéristiques. Puis, nous considérons des modèles linéai

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34

Kilicaslan, Sinan. "Unconstrained Motion And Constrained Force And Motion Control Of Robots With Flexible Links." Phd thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/3/12606011/index.pdf.

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New control methods are developed for the unconstrained motion and constrained force and motion control of flexible robots. The dynamic equations of the flexible robots are partitioned as pseudostatic equilibrium equations and deviations from them. The pseudostatic equilibrium considered here is defined as a hypothetical state where the tip point variables have their desired values while the modal variables are instantaneously constant. Then, the control torques for the pseudostatic equilibrium and for the stabilization of the deviation equations are formed in terms of tip point coordinates, m

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35

Davis, Ronald J. "EVOLUTIONARY GROUND REACTION FORCE CONTROL OF A PROSTHETIC LEG TESTING ROBOT." Cleveland State University / OhioLINK, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=csu1396786747.

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36

Kraus, Werner [Verfasser], and Andreas [Akademischer Betreuer] Pott. "Force control of cable-driven parallel robots / Werner Kraus. Betreuer: Andreas Pott." Stuttgart : Universitätsbibliothek der Universität Stuttgart, 2016. http://d-nb.info/1093404353/34.

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37

Wu, Gang. "Adaptive position and force control of hydraulic robots, theory, simulation and experiments." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp04/mq23554.pdf.

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38

Gardner, John F. "Force distribution and trajectory control for closed kinematic chains with applications to walking machines /." The Ohio State University, 1987. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487331541709602.

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39

Calderon, Chavez Juan Manuel. "Impact Force Reduction Using Variable Stiffness with an Optimal Approach for Jumping Robots." Scholar Commons, 2017. http://scholarcommons.usf.edu/etd/6615.

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Running, jumping and walking are physical activities that are performed by humans in a simple and efficient way. However, these types of movements are difficult to perform by humanoid robots. Humans perform these activities without difficulty thanks to their ability to absorb the ground impact force. The absorption of the impact force is based on the human ability to vary muscles stiffness. The principal objective of this dissertation is to study vertical jumps in order to reduce the impact force in the landing phase of the jump motion of humanoid robots. Additionally, the impact force reducti

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40

Lee, Eunjeong. "Force and impact control for robot manipulators with unknown dynamics and disturbances." Case Western Reserve University School of Graduate Studies / OhioLINK, 1994. http://rave.ohiolink.edu/etdc/view?acc_num=case1057933316.

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41

Guan, Yan-Lun, and 管言倫. "Hierarchical Robust Motion and Force Control of Planar Dual Arm Robot with Flexible Joints." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/51028799163949692077.

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碩士<br>國立中興大學<br>機械工程學系所<br>103<br>Dual-arm robots holding an object can be seen as a closed chain multi-body mechanical system. The Lagrange multiplier theory can be used to derive the constrained dynamic equations of motor. This thesis extends the force control that Lagrange Multiplier is used to dual-arms robot with flexible joints. The original 4th order dynamic system is first decomposed into two subsystem, an arm system and a motor system, then a hierarchical controller is designed for these two subsystem. To overcome the problem of uncertain parameter, the concept of sliding control is e

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42

ZHANG, YI-FANG, and 張義芳. "Robust controller design and applications to the turning force control system." Thesis, 1989. http://ndltd.ncl.edu.tw/handle/93329944016095675187.

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43

Tho, Nguyen-Van, and 阮文壽. "A Robust Position/Force Control System Design of 6DOF Stewart Platform for Nanoscale Positioning." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/64476929321522779193.

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博士<br>中原大學<br>機械工程研究所<br>105<br>This study focuses on the development of appropriate control method for a 6DOF Stewart-type platform driven by piezoelectric actuators. It is aimed to preserve good positioning accuracy while encountered with external forces in particular. Kinematic calibration is firstly carried out by using pose measurement to improve the accuracy of kinematic parameters. Negative factors of using piezoelectric actuators such as nonlinear hysteresis, creep, drifting disturbance, and temperature rise that directly affect the accuracy and steadiness of the system are concerned.

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44

Koepl, Devin N. "Force and impulse control for spring-mass running." Thesis, 2011. http://hdl.handle.net/1957/26541.

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We present a novel control strategy for running which is robust to disturbances, and makes excellent use of passive dynamics for energy economy. The motivation for our control strategy is based on observations of animals, which are able to economically walk and run over varying terrain and ground dynamics. It is well-known that steady-state animal running can be approximated by spring-mass models, but these passive dynamic models describe only steady-state running and are sensitive to disturbances that animals can accommodate. While animals rely on their passive dynamics for energy economy,

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45

Eppinger, Steven D., and Warren P. Seering. "Modeling Robot Flexibility for Endpoint Force Control." 1988. http://hdl.handle.net/1721.1/6037.

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Dynamic models have been developed in an attempt to match the response of a robot arm. The experimental data show rigid-body and five resonant modes. The frequency response and pole-zero arrays for various models of structural flexibility are compared with the data to evaluate the characteristics of the models, and to provide insight into the nature of the flexibility in the robot. Certain models are better able to depict transmission flexibility while others describe types of structural flexibility.

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46

Wang, An Qiang, and 王安強. "Hierarchical fuzzy force control for industrial robots." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/58326673442789860775.

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47

Eppinger, Steven D., and Warren P. Seering. "On Dynamic Models of Robot Force Control." 1986. http://hdl.handle.net/1721.1/5599.

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For precise robot control, endpoint compliance strategies utilize feedback from a force sensor located near the tool/workpiece interface. Such endpoint force control systems have been observed in the laboratory to be limited to unsatisfactory closed-loop performance. This paper discusses the particular dynamic properties of robot systems which can lead to instability and limit performance. A series of lumped-parameter models is developed in an effort to predict the closed-loop dynamics of a force-controlled single axis arm. The models include some effects of robot structural dynam

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48

Valdes-Salazar, Juan C. "Six-axis force sensors : a comparative study." Thesis, 1993. http://hdl.handle.net/1957/35938.

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A comparative study of three six-axis force sensors selected after an extensive literature survey is presented. A sensor to measure ground contact force at each foot of a walking machine is recommended. Principles of force sensing are reviewed and characteristics of sensing elements are discussed. Results of simulation of three six-axis force sensors are presented as behavior curves, sensitivity plots and compliance matrices. These simulations use finite element techniques. Condition numbers of compliance matrices are presented as a measure of overall sensor performance. Estimates of manufactu

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49

Eppinger, Steven D., and Warren P. Seering. "Understanding Bandwidth Limitations in Robot Force Control." 1987. http://hdl.handle.net/1721.1/6463.

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This paper provides an analytical overview of the dynamics involved in force control. Models are developed which demonstrate, for the one-axis explicit force control case, the effects on system closed-loop bandwidth of: a) robot system dynamics that are not usually considered in the controller design; b) drive-train and task nonlinearities; and c) actuator and controller dynamics. The merits and limitations of conventional solutions are weighed, and some new solutions are proposed. Conclusions are drawn which give insights into the relative importance of the effects discussed.

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50

CHUNG, CHIAO CHIH, and 喬執中. "Application of Force Control on a Robot." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/98392556515798224629.

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碩士<br>國立中央大學<br>機械工程研究所<br>89<br>Recent years, the application of robot is extensive. In order to recognize the relative position between robot and workpiece, CCD (change couple device) is applied to get the image information to orientate, but it is restricted by environment, and it’s not easy to apply extensively. In order to substitute CCD to measure the shape and position, we use a five-axis robot with a force sensor to do the contact measurement. Using the complaint motion controller, the end-effector with force sensor, which can detect the boundary of workpiece smoothly. And using the

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