Matches in SemOpenAlex for { <https://semopenalex.org/work/W1567103261> ?p ?o ?g. }
Showing items 1 to 75 of
75
with 100 items per page.
- W1567103261 abstract "This thesis explores the effects of changing the effective damping and stiffness coefficients on the dynamic operating characteristics of a single degree of freedom direct-drive robot during contact with a rigid environment. Altering these two coefficients ultimately implies changing the compliance of the robot/environment interaction. Since the compliance is changed dynamically and in real-time, the approach is referred to as Active Compliance. The thesis provides insight into the fundamental contact dynamics of a single robotic link such that the results can be used to describe the dynamics of more complex multi-degree of freedom manipulator architectures. -- Active compliance requires real-time control of the damping and stiffness characteristics and is fundamentally a dynamic force control scheme allowing the robot to conform to the natural constraints imposed by the environment. To investigate this interaction in this thesis a software simulation program and a single degree of freedom direct-drive robot arm are developed. The thesis also clearly defines five distinct phases associated with the process of making contact. These contact phases are generic and apply to both mobile and fixed robots. -- This study highlighted the following conclusions (1) Both mobile and fixed robots can benefit from controlled active compliance, (2) Altering these coefficients in real-time during the contact process is achievable, (3) The distance from the environment is not a necessary piece of information for contact under a force controlled contact scheme, (4) Compliance can be implemented based on a force constraint imposed upon the robot and the environment, (5) Sensors provide control information and must be strategically selected and mounted, (6) Ideal Damping and Stiffness laws are developed and proven functional, (7) Friction is a significant impedance factor which effects all aspects of the contact cycle." @default.
- W1567103261 created "2016-06-24" @default.
- W1567103261 creator A5043075987 @default.
- W1567103261 date "1994-01-01" @default.
- W1567103261 modified "2023-09-26" @default.
- W1567103261 title "An investigation of programmable compliance during robot/environment interactions" @default.
- W1567103261 hasPublicationYear "1994" @default.
- W1567103261 type Work @default.
- W1567103261 sameAs 1567103261 @default.
- W1567103261 citedByCount "0" @default.
- W1567103261 crossrefType "dissertation" @default.
- W1567103261 hasAuthorship W1567103261A5043075987 @default.
- W1567103261 hasConcept C111919701 @default.
- W1567103261 hasConcept C121332964 @default.
- W1567103261 hasConcept C127413603 @default.
- W1567103261 hasConcept C133731056 @default.
- W1567103261 hasConcept C154945302 @default.
- W1567103261 hasConcept C19966478 @default.
- W1567103261 hasConcept C2775924081 @default.
- W1567103261 hasConcept C2776036281 @default.
- W1567103261 hasConcept C2779372316 @default.
- W1567103261 hasConcept C41008148 @default.
- W1567103261 hasConcept C44154836 @default.
- W1567103261 hasConcept C47446073 @default.
- W1567103261 hasConcept C62520636 @default.
- W1567103261 hasConcept C66938386 @default.
- W1567103261 hasConcept C78519656 @default.
- W1567103261 hasConcept C81302111 @default.
- W1567103261 hasConcept C90509273 @default.
- W1567103261 hasConcept C98045186 @default.
- W1567103261 hasConceptScore W1567103261C111919701 @default.
- W1567103261 hasConceptScore W1567103261C121332964 @default.
- W1567103261 hasConceptScore W1567103261C127413603 @default.
- W1567103261 hasConceptScore W1567103261C133731056 @default.
- W1567103261 hasConceptScore W1567103261C154945302 @default.
- W1567103261 hasConceptScore W1567103261C19966478 @default.
- W1567103261 hasConceptScore W1567103261C2775924081 @default.
- W1567103261 hasConceptScore W1567103261C2776036281 @default.
- W1567103261 hasConceptScore W1567103261C2779372316 @default.
- W1567103261 hasConceptScore W1567103261C41008148 @default.
- W1567103261 hasConceptScore W1567103261C44154836 @default.
- W1567103261 hasConceptScore W1567103261C47446073 @default.
- W1567103261 hasConceptScore W1567103261C62520636 @default.
- W1567103261 hasConceptScore W1567103261C66938386 @default.
- W1567103261 hasConceptScore W1567103261C78519656 @default.
- W1567103261 hasConceptScore W1567103261C81302111 @default.
- W1567103261 hasConceptScore W1567103261C90509273 @default.
- W1567103261 hasConceptScore W1567103261C98045186 @default.
- W1567103261 hasLocation W15671032611 @default.
- W1567103261 hasOpenAccess W1567103261 @default.
- W1567103261 hasPrimaryLocation W15671032611 @default.
- W1567103261 hasRelatedWork W117838942 @default.
- W1567103261 hasRelatedWork W1571443838 @default.
- W1567103261 hasRelatedWork W1835539118 @default.
- W1567103261 hasRelatedWork W1841206395 @default.
- W1567103261 hasRelatedWork W1997646025 @default.
- W1567103261 hasRelatedWork W2036759854 @default.
- W1567103261 hasRelatedWork W2151075848 @default.
- W1567103261 hasRelatedWork W2413946542 @default.
- W1567103261 hasRelatedWork W24213536 @default.
- W1567103261 hasRelatedWork W2784455009 @default.
- W1567103261 hasRelatedWork W2898692505 @default.
- W1567103261 hasRelatedWork W2944064011 @default.
- W1567103261 hasRelatedWork W2968815292 @default.
- W1567103261 hasRelatedWork W3011734990 @default.
- W1567103261 hasRelatedWork W3155610930 @default.
- W1567103261 hasRelatedWork W3171470706 @default.
- W1567103261 hasRelatedWork W329202814 @default.
- W1567103261 hasRelatedWork W97726967 @default.
- W1567103261 hasRelatedWork W2182671944 @default.
- W1567103261 hasRelatedWork W3115458068 @default.
- W1567103261 isParatext "false" @default.
- W1567103261 isRetracted "false" @default.
- W1567103261 magId "1567103261" @default.
- W1567103261 workType "dissertation" @default.