A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to ge...A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model that is driven by the force error to produce command position. By following the command position trajectory the robotic manipulator can follow the unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation on a 3 linked planar manipulator and experimental studies on an Adept 3, an SCARA type robotic manipulator, are conducted to verify the force tracking capability of the proposed control strategy.展开更多
Multihull ships are widely used for sea transportation, and those with four hulls are known as quadramarans. Hull position configurations of a quadramaran include the diamond, tetra, and slice. In general, multihull v...Multihull ships are widely used for sea transportation, and those with four hulls are known as quadramarans. Hull position configurations of a quadramaran include the diamond, tetra, and slice. In general, multihull vessels traveling at high speeds have better hydrodynamic efficiency than monohull ships. This study aims to identify possible effects of various quadramaran hull position configurations on ship resistance for hull dimensions of 2 m length, 0.21 m breadth, and 0.045 m thickness. We conducted a towing test in which we varied the hull spacing and speed at Fr values between 0.08 and 0.62 and measured the total resistance using a load cell transducer. The experimental results reveal that the lowest total resistance was achieved with a diamond quadramaran configuration at Fr = 0.1-0.6 and an effective interference factor of up to 0.35 with S/L = 3/10 and R/L = 1/2 at Fr = 0.62.展开更多
文摘A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model that is driven by the force error to produce command position. By following the command position trajectory the robotic manipulator can follow the unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation on a 3 linked planar manipulator and experimental studies on an Adept 3, an SCARA type robotic manipulator, are conducted to verify the force tracking capability of the proposed control strategy.
基金sponsored by the Directorate of Research and Community Services,University of Indonesia(Hibah PUPT-Tambahan UI 2015)
文摘Multihull ships are widely used for sea transportation, and those with four hulls are known as quadramarans. Hull position configurations of a quadramaran include the diamond, tetra, and slice. In general, multihull vessels traveling at high speeds have better hydrodynamic efficiency than monohull ships. This study aims to identify possible effects of various quadramaran hull position configurations on ship resistance for hull dimensions of 2 m length, 0.21 m breadth, and 0.045 m thickness. We conducted a towing test in which we varied the hull spacing and speed at Fr values between 0.08 and 0.62 and measured the total resistance using a load cell transducer. The experimental results reveal that the lowest total resistance was achieved with a diamond quadramaran configuration at Fr = 0.1-0.6 and an effective interference factor of up to 0.35 with S/L = 3/10 and R/L = 1/2 at Fr = 0.62.
