Matches in SemOpenAlex for { <https://semopenalex.org/work/W2186192513> ?p ?o ?g. }
Showing items 1 to 74 of
74
with 100 items per page.
- W2186192513 abstract "Robot dynamics under static and Coulomb frictions are shown to be equivalent to a nonlinear posationdependent carcuit including a set of on-off switches and analyzed as a VSS (Variable Strvcture System). It is shown that, under the existence of static and Coulomb frictions at each joint, an ordinary PD feedback with gravity compensation for setpoint position control leads to a trapping of motion at some immovable state within a finate tame without reaching the given target posztion. On the contrary, by introducing regressors for uncertain parameters of gravity forces and static and Coulomb frictions it is possible to show that a proper update law of such regressors together with an adequate PD feedback renders the target state of the robot system globally asymptotically stable without incurring any offset and without measuring any force/torque signals. It is shown that regressors can be treated as an operator with positivity and there6 y regarded as a tamevarying capacitor. These observations suggest a proposal of robots that are subject to only the law of inertia (Newton’s first law of motion), that is, a proposal of inertia-only robots or gravity/fiiction-free robots. Such a gravaty/friction-free robot can be v.sed as a startingpoint testbed for further implementataon of compliant or impedance control towards Teakation of humanfriendly robots." @default.
- W2186192513 created "2016-06-24" @default.
- W2186192513 creator A5010910465 @default.
- W2186192513 creator A5026004841 @default.
- W2186192513 creator A5038685677 @default.
- W2186192513 date "1997-01-01" @default.
- W2186192513 modified "2023-09-27" @default.
- W2186192513 title "P r o p os a1 of the- Law- of- Inertia (Fr i c t ion / G r avi t y - f r ee) Rob o t s" @default.
- W2186192513 cites W1924279592 @default.
- W2186192513 cites W2048603489 @default.
- W2186192513 cites W2065072757 @default.
- W2186192513 cites W2099003264 @default.
- W2186192513 cites W2106608467 @default.
- W2186192513 cites W2131443288 @default.
- W2186192513 cites W2157918371 @default.
- W2186192513 hasPublicationYear "1997" @default.
- W2186192513 type Work @default.
- W2186192513 sameAs 2186192513 @default.
- W2186192513 citedByCount "0" @default.
- W2186192513 crossrefType "journal-article" @default.
- W2186192513 hasAuthorship W2186192513A5010910465 @default.
- W2186192513 hasAuthorship W2186192513A5026004841 @default.
- W2186192513 hasAuthorship W2186192513A5038685677 @default.
- W2186192513 hasConcept C110407247 @default.
- W2186192513 hasConcept C121332964 @default.
- W2186192513 hasConcept C147120987 @default.
- W2186192513 hasConcept C154945302 @default.
- W2186192513 hasConcept C193874036 @default.
- W2186192513 hasConcept C2775924081 @default.
- W2186192513 hasConcept C41008148 @default.
- W2186192513 hasConcept C47446073 @default.
- W2186192513 hasConcept C62520636 @default.
- W2186192513 hasConcept C74650414 @default.
- W2186192513 hasConcept C90509273 @default.
- W2186192513 hasConcept C9342510 @default.
- W2186192513 hasConceptScore W2186192513C110407247 @default.
- W2186192513 hasConceptScore W2186192513C121332964 @default.
- W2186192513 hasConceptScore W2186192513C147120987 @default.
- W2186192513 hasConceptScore W2186192513C154945302 @default.
- W2186192513 hasConceptScore W2186192513C193874036 @default.
- W2186192513 hasConceptScore W2186192513C2775924081 @default.
- W2186192513 hasConceptScore W2186192513C41008148 @default.
- W2186192513 hasConceptScore W2186192513C47446073 @default.
- W2186192513 hasConceptScore W2186192513C62520636 @default.
- W2186192513 hasConceptScore W2186192513C74650414 @default.
- W2186192513 hasConceptScore W2186192513C90509273 @default.
- W2186192513 hasConceptScore W2186192513C9342510 @default.
- W2186192513 hasLocation W21861925131 @default.
- W2186192513 hasOpenAccess W2186192513 @default.
- W2186192513 hasPrimaryLocation W21861925131 @default.
- W2186192513 hasRelatedWork W1542617531 @default.
- W2186192513 hasRelatedWork W1584179459 @default.
- W2186192513 hasRelatedWork W2058600752 @default.
- W2186192513 hasRelatedWork W2058671091 @default.
- W2186192513 hasRelatedWork W2066426406 @default.
- W2186192513 hasRelatedWork W2121749510 @default.
- W2186192513 hasRelatedWork W2169116878 @default.
- W2186192513 hasRelatedWork W2187689475 @default.
- W2186192513 hasRelatedWork W2279965991 @default.
- W2186192513 hasRelatedWork W2569899483 @default.
- W2186192513 hasRelatedWork W2771809357 @default.
- W2186192513 hasRelatedWork W2888471503 @default.
- W2186192513 hasRelatedWork W3124971743 @default.
- W2186192513 hasRelatedWork W848194032 @default.
- W2186192513 hasRelatedWork W2180439264 @default.
- W2186192513 hasRelatedWork W2184290556 @default.
- W2186192513 hasRelatedWork W2333816231 @default.
- W2186192513 hasRelatedWork W2520084670 @default.
- W2186192513 hasRelatedWork W267013477 @default.
- W2186192513 hasRelatedWork W2824844717 @default.
- W2186192513 isParatext "false" @default.
- W2186192513 isRetracted "false" @default.
- W2186192513 magId "2186192513" @default.
- W2186192513 workType "article" @default.