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A tutorial survey and comparison of impedance control on robotic manipulation
There have been significant interests and efforts in the field of impedance control on robotic
manipulation over last decades. Impedance control aims to achieve the desired mechanical …
manipulation over last decades. Impedance control aims to achieve the desired mechanical …
An overview of robot force control
G Zeng, A Hemami - Robotica, 1997 - cambridge.org
This paper reports on the existing robot force control algorithms and their composition based
on the review of 75 papers on this subject. The objective is to provide a pragmatic exposition …
on the review of 75 papers on this subject. The objective is to provide a pragmatic exposition …
[КНИГА][B] Hard real-time computing systems
GC Buttazzo, G Buttanzo - 1997 - Springer
Real-time computing plays a crucial role in our society since an increasing number of
complex systems rely, in part or completely, on computer control. Examples of applications …
complex systems rely, in part or completely, on computer control. Examples of applications …
Bilateral control of teleoperators with time delay
RJ Anderson, MW Spong - Proceedings of the 1988 IEEE …, 1988 - ieeexplore.ieee.org
When a robot is operated remotely by use of a teleoperator, it is desirable to communicate
contact force information from the slave to the master, in order to kinesthetically couple the …
contact force information from the slave to the master, in order to kinesthetically couple the …
[КНИГА][B] Robot force control
B Siciliano, L Villani - 1999 - books.google.com
One of the fundamental requirements for the success of a robot task is the capability to
handle interaction between manipulator and environment. The quantity that describes the …
handle interaction between manipulator and environment. The quantity that describes the …
Unified impedance and admittance control
Impedance and Admittance Control are two distinct implementations of the same control
goal. It is well known that their stability and performance properties are complementary. In …
goal. It is well known that their stability and performance properties are complementary. In …
Force tracking impedance control of robot manipulators under unknown environment
S Jung, TC Hsia, RG Bonitz - IEEE Transactions on Control …, 2004 - ieeexplore.ieee.org
In this paper, a new simple stable force tracking impedance control scheme that has the
capability to track a specified desired force and to compensate for uncertainties in …
capability to track a specified desired force and to compensate for uncertainties in …
[КНИГА][B] Adaptive neural network control of robotic manipulators
Introduction; Mathematical background; Dynamic modelling of robots; Structured network
modelling of robots; Adaptive neural network control of robots; Neural network model …
modelling of robots; Adaptive neural network control of robots; Neural network model …
[КНИГА][B] Robotics and automation handbook
TR Kurfess - 2005 - api.taylorfrancis.com
Robots are machines that have interested the general population throughout history. In
general, they are machines or devices that operate automatically or by remote control …
general, they are machines or devices that operate automatically or by remote control …
Force control
A fundamental requirement for the success of a manipulation task is the capability to handle
the physical contact between a robot and the environment. Pure motion control turns out to …
the physical contact between a robot and the environment. Pure motion control turns out to …