Matches in SemOpenAlex for { <https://semopenalex.org/work/W4315778002> ?p ?o ?g. }
Showing items 1 to 100 of
100
with 100 items per page.
- W4315778002 endingPage "116" @default.
- W4315778002 startingPage "107" @default.
- W4315778002 abstract "This paper presents a force sensorless workspace hybrid position/force control method with equivalent mass matrices switching for rubbing motion. The equivalent mass matrices express an interference between control axes. Since the determinant of the matrix computed from the design values of robots becomes near zero around the singular configuration of robots, the utilized matrices are often arbitrarily designed. However, inappropriate matrices conditions deteriorate control performance and could cause vibration during rubbing motion. This study reveals suitable equivalent mass matrices for rubbing motion depending on the velocity of the force control axes. Moreover, a hybrid controller with equivalent mass matrices switching depending on the expected velocity of the force control axes in tasks is proposed. The validity of the proposed hybrid controller is demonstrated by the experimental response of rubbing motion with a parallel link type direct-drive four-link manipulator." @default.
- W4315778002 created "2023-01-13" @default.
- W4315778002 creator A5018288353 @default.
- W4315778002 creator A5076792354 @default.
- W4315778002 date "2023-03-01" @default.
- W4315778002 modified "2023-09-25" @default.
- W4315778002 title "Force Sensorless Hybrid Position/Force Control with Equivalent Mass Matrices Switching for Decoupled Rubbing Motion" @default.
- W4315778002 cites W1966045061 @default.
- W4315778002 cites W1982430438 @default.
- W4315778002 cites W2016958754 @default.
- W4315778002 cites W2026992001 @default.
- W4315778002 cites W2102279668 @default.
- W4315778002 cites W2112474089 @default.
- W4315778002 cites W2126034408 @default.
- W4315778002 cites W2281023482 @default.
- W4315778002 cites W2794181638 @default.
- W4315778002 cites W2872947583 @default.
- W4315778002 cites W2920396964 @default.
- W4315778002 cites W2982468572 @default.
- W4315778002 cites W3046700210 @default.
- W4315778002 cites W3086549762 @default.
- W4315778002 cites W3120689270 @default.
- W4315778002 cites W3128541473 @default.
- W4315778002 cites W3128907628 @default.
- W4315778002 cites W3133988555 @default.
- W4315778002 cites W3181884311 @default.
- W4315778002 cites W4220882187 @default.
- W4315778002 cites W4242059591 @default.
- W4315778002 doi "https://doi.org/10.1541/ieejjia.22004247" @default.
- W4315778002 hasPublicationYear "2023" @default.
- W4315778002 type Work @default.
- W4315778002 citedByCount "0" @default.
- W4315778002 crossrefType "journal-article" @default.
- W4315778002 hasAuthorship W4315778002A5018288353 @default.
- W4315778002 hasAuthorship W4315778002A5076792354 @default.
- W4315778002 hasBestOaLocation W43157780021 @default.
- W4315778002 hasConcept C10138342 @default.
- W4315778002 hasConcept C121332964 @default.
- W4315778002 hasConcept C127413603 @default.
- W4315778002 hasConcept C135585149 @default.
- W4315778002 hasConcept C145565327 @default.
- W4315778002 hasConcept C154945302 @default.
- W4315778002 hasConcept C162324750 @default.
- W4315778002 hasConcept C185544564 @default.
- W4315778002 hasConcept C186453547 @default.
- W4315778002 hasConcept C198082294 @default.
- W4315778002 hasConcept C198394728 @default.
- W4315778002 hasConcept C203479927 @default.
- W4315778002 hasConcept C24890656 @default.
- W4315778002 hasConcept C2775924081 @default.
- W4315778002 hasConcept C2777673350 @default.
- W4315778002 hasConcept C41008148 @default.
- W4315778002 hasConcept C47446073 @default.
- W4315778002 hasConcept C58581272 @default.
- W4315778002 hasConcept C6557445 @default.
- W4315778002 hasConcept C78519656 @default.
- W4315778002 hasConcept C86803240 @default.
- W4315778002 hasConcept C90509273 @default.
- W4315778002 hasConceptScore W4315778002C10138342 @default.
- W4315778002 hasConceptScore W4315778002C121332964 @default.
- W4315778002 hasConceptScore W4315778002C127413603 @default.
- W4315778002 hasConceptScore W4315778002C135585149 @default.
- W4315778002 hasConceptScore W4315778002C145565327 @default.
- W4315778002 hasConceptScore W4315778002C154945302 @default.
- W4315778002 hasConceptScore W4315778002C162324750 @default.
- W4315778002 hasConceptScore W4315778002C185544564 @default.
- W4315778002 hasConceptScore W4315778002C186453547 @default.
- W4315778002 hasConceptScore W4315778002C198082294 @default.
- W4315778002 hasConceptScore W4315778002C198394728 @default.
- W4315778002 hasConceptScore W4315778002C203479927 @default.
- W4315778002 hasConceptScore W4315778002C24890656 @default.
- W4315778002 hasConceptScore W4315778002C2775924081 @default.
- W4315778002 hasConceptScore W4315778002C2777673350 @default.
- W4315778002 hasConceptScore W4315778002C41008148 @default.
- W4315778002 hasConceptScore W4315778002C47446073 @default.
- W4315778002 hasConceptScore W4315778002C58581272 @default.
- W4315778002 hasConceptScore W4315778002C6557445 @default.
- W4315778002 hasConceptScore W4315778002C78519656 @default.
- W4315778002 hasConceptScore W4315778002C86803240 @default.
- W4315778002 hasConceptScore W4315778002C90509273 @default.
- W4315778002 hasIssue "2" @default.
- W4315778002 hasLocation W43157780021 @default.
- W4315778002 hasOpenAccess W4315778002 @default.
- W4315778002 hasPrimaryLocation W43157780021 @default.
- W4315778002 hasRelatedWork W1956072779 @default.
- W4315778002 hasRelatedWork W2000821612 @default.
- W4315778002 hasRelatedWork W2101236138 @default.
- W4315778002 hasRelatedWork W2139553966 @default.
- W4315778002 hasRelatedWork W2328167206 @default.
- W4315778002 hasRelatedWork W2636277186 @default.
- W4315778002 hasRelatedWork W2642463842 @default.
- W4315778002 hasRelatedWork W2743542597 @default.
- W4315778002 hasRelatedWork W3096190362 @default.
- W4315778002 hasRelatedWork W4317394625 @default.
- W4315778002 hasVolume "12" @default.
- W4315778002 isParatext "false" @default.
- W4315778002 isRetracted "false" @default.
- W4315778002 workType "article" @default.