Constraint-Based Interaction Control of Robots Featuring Large Compliance and Deformation


This paper introduces a framework for constraint-based mostly force/position control of robots that exhibit giant nonlinear structural compliance and that undergo giant deformations. Controller synthesis follows hereto the principles of the Task Frame and instantaneous Task Specification using Constraints (iTaSC) formalisms. iTaSC is found particularly suitable due to its ability to express and combine control tasks in a very natural means. Control tasks can be formulated as combos of target positions, velocities, or forces expressed in an arbitrary number and type of coordinate frames. The proposed framework is applied to a mixed mechatronic system composed of a ancient rigid-link robot whose end-effector is a continuum (versatile) link. A choice of different position/force control tasks is prepared to demonstrate the validity and general nature of the proposed framework.

Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here

PROJECT TITLE :Design, Control, and Validation of a Charge-Sustaining Parallel Hybrid BicycleABSTRACT:Traffic congestion, energy, and environmental concerns are boosting the interest for light electric vehicles. Electrically power-assisted
PROJECT TITLE :Power converters, control, and energy management for distributed generationABSTRACT:Distributed generation (DG) is anticipated to play a important role in the long run to enhance the quality of human life. DG and
PROJECT TITLE :A Robotic Leg Prosthesis: Design, Control, and ImplementationABSTRACT:This text describes the look and control of a powered knee and ankle prosthesis for transfemoral amputees. Following an outline of the design
PROJECT TITLE :Modeling, Control, and Experimental Validation of a High-Speed Supercavitating VehicleABSTRACT:Underwater vehicles that travel inside a bubble or supercavity provide possibilities for prime-speed and energy-economical
PROJECT TITLE : Modeling, Control, and Implementation of DC–DC Converters for Variable Frequency Operation (2014) ABSTRACT : In this paper, novel small-signal averaged models for dc-dc converters operating at variable switching

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry