... functionality was not fully validated. Meng et al. (2019) implemented a contact aerial manipulator system for glass-wall inspection tasks. Xu et al. (2023 , 2024) proposed image-based visual impedance force control methods for aerial manipulators based on conventional underactuated UAVs...

...Meng Xiao; LikeTing Li; Haotian Jin; Danyang Bao; Fangting Huang Purpose To address the challenge of maintaining stable contact force when a robot end-effector interacts with an unknown environment, this paper aims to propose a force control algorithm based on radial basis function (RBF) neural...

...Liang Du; Meng Xiao Purpose This study aims to propose a force control algorithm based on neural networks, which enables a robot to follow a changing reference force trajectory when in contact with human skin while maintaining a stable tracking force. Design/methodology/approach Aiming...

... a constant force control method with adaptive friction compensation. Design/methodology/approach First, the mathematical model of the pneumatic end-effector is established based on the continuous LuGre model, and the static parameters of the LuGre model are identified to verify the necessity of friction...

... A closed-loop robot control system for seam-tracking control and force control, running and recording data in real-time operation, was developed. The complete system was experimentally verified. External position measurements were obtained from a laser seam tracker and deviations from the seam were...

...Shijie Dai; Yufeng Zhao; Wenbin Ji; Jiaheng Mu; Fengbao Hu Purpose This paper aims to present a control method to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A constant force control strategy combined by extended state observer (ESO...

...Meng Xiao; Tie Zhang; Yanbiao Zou; Shouyan Chen Purpose The purpose of this paper is to propose a robot constant grinding force control algorithm for the impact stage and processing stage of robotic grinding. Design/methodology/approach The robot constant grinding force control algorithm...

... in welding, polishing and assembly. Design/methodology/approach The stiffness estimation algorithm with time-varying forgetting factors is used to improve the speed and accuracy of the unknown environmental estimation. The sensor force control and robot position control are adopted in different...

.... Findings Finally, the experimental results show the better performance of the proposed control method, realizing the force control during the collision process. Originality/value Origin approach and origin experiment. (4) p ̇ = M ̇ ( q ) q ̇ + M ( q ) q ̈ = C T ( q...

... into nτ_m in equation (3) yields: (5) τ ext − ( τ f − τ ^ f ) = M ( q ) q ¨ + V ( q , q ˙ ) q ˙ Force control Direct teaching Friction model Industrial manipulator where τ^_f is smaller than τ_f...

...Changhong Gao; Dacheng Cong; Xiaochu Liu; Zhidong Yang; Han Tao Purpose The purpose of this paper is to propose a hybrid position/force control scheme using force and vision for docking task of a six degrees of freedom (6-dof) hydraulic parallel manipulator (HPM). Design/methodology/approach...

... are performed at 24 ± 2°C. Measured coordinates are described in the robot’s base coordinate system (index 0). Indication of the used testing workspace volume and testing plane are provided. The workspace is shaped by a combination of the four poses in Figure 2 . Force control Deflection...

... gravity compensation system, and a novel cabling power transmission. Control Control systems Design for manufacture Force control In parallel haptic devices, motors are usually fixed to the base of the robot, thus the mass of the motor's body and housing is excluded from the effective mass...

... force control is allowed by a closed-loop pressure control within the pushing chambers of the pneumatic cylinders of the four underactuated fingers, because of a pair of two-way/two-position pulse-width-modulation (PWM) modulated pneumatic digital valves, which can also be operated under ON/OFF modes...

... combination of visual servoing and force control technology. Since it is difficult to model the system accurately, a second‐order system is used to approximate it. The system performance for force control and visual servoing is then analyzed. The tracking errors are calculated and compared with experimental...