...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. Pengcheng Wang can be contacted at: 1019091434@qq.com 14 08 2019 10...

... structure (Katsura et al., 2007). Force control Direct teaching Friction model Industrial manipulator Therefore, direct teaching technique that does not require extra force/torque sensor is more practical for general industrial application. Goto et al. (2003) estimated...

...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...

.... Originality/value – The presented deflection model is based on force feedback and can predict and compensate tool deviations online. Jeroen De Backer can be contacted at: jeroen.debacker@hv.se © Authors 2014 Force control Deflection model Friction stir welding Path compensation Robot...

... 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...

... gravity compensation system, and a novel cabling power transmission. © Emerald Group Publishing Limited 2014 Control Control systems Design for manufacture Force control A user of a haptic device controls the position and movements of the end-effector and can feel forces resulting...

... 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...