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Proceedings Papers

A Semi-Autonomous Quadruped Robot for Performing Disinfection in Cluttered Environments

Yiyu Chen, Abhinav Pandey, Zhiwei Deng, Anthony Nguyen, Ruiqi Wang, Pornrawee Thonapalin, Quan Nguyen, Satyandra K. Gupta

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A024, August 17–19, 2021

Paper No: DETC2021-70850

DOI: https://doi.org/10.1115/DETC2021-70850

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Topics: Robots, Sprays, Computer software, Computers, Design, Feedback, Force control, Image processing, Lasers, Pandemics

Proceedings Papers

Fractional-Order Impedance Control Design for Robot Manipulator

Xiaolian Liu, Shaohua Wang, Ying Luo

Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A028, August 17–19, 2021

Paper No: DETC2021-71936

DOI: https://doi.org/10.1115/DETC2021-71936

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Topics: Design, Force control, Manipulators

Proceedings Papers

Trajectory Planning for a 3-S P S-U Tensegrity Mechanism

Swaminath Venkateswaran, Damien Chablat

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A004, August 17–19, 2021

Paper No: DETC2021-69957

DOI: https://doi.org/10.1115/DETC2021-69957

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Topics: Tensegrity mechanisms, Trajectories (Physics), Control equipment, Junctions, Motors, Robots, Springs, Algorithms, Cables, Errors

Proceedings Papers

Inverse Dynamic Models Used for Force Control of Compliant, Closed-Chain Mechanisms

D. J. Manko, W. L. Whittaker

Proc. ASME. DETC89, 15th Design Automation Conference: Volume 3 — Mechanical Systems Analysis, Design and Simulation, 61-66, September 17–21, 1989

Paper No: DETC1989-0106

DOI: https://doi.org/10.1115/DETC1989-0106

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Topics: Chain, Dynamic models, Force control, Compliant mechanisms, Approximation, Differential algebraic equations, Equations of motion, Legged locomotion

Proceedings Papers

The Optimum Design of a 6 DOF Fully-Parallel Micromanipulator for Enhanced Robot Accuracy

C.-S. Han, D. Tesar, A. E. Traver

Proc. ASME. DETC89, 15th Design Automation Conference: Volume 3 — Mechanical Systems Analysis, Design and Simulation, 357-363, September 17–21, 1989

Paper No: DETC1989-0146

DOI: https://doi.org/10.1115/DETC1989-0146

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Topics: Design, Robots, Optimization, Stress, Computer simulation, Computer-aided design, Deflection, Degrees of freedom, Dynamic modeling, Error compensation

Proceedings Papers

An Adaptive Control Subsystem for Quasi-Static Cutting Force Control in Turning

Lars Harder, Thomas Lundholm, Bo Lindström

Proc. ASME. CIE91, ASME 1991 Computers in Engineering Conference: Volume 2 — Finite Elements/Computational Geometry; Computers in Education; Robotics and Controls, 521-527, August 18–22, 1991

Paper No: CIE1991-0163

DOI: https://doi.org/10.1115/CIE1991-0163

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Topics: Adaptive control, Cutting, Force control, Turning, Computers, Machine tools, Control equipment, Machining, Manufacturing industry

Proceedings Papers

A Novel Theory on Grasping Force Control in a Multifingered Robotic Hand

Xiaochun Gao, Shin-Min Song

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 293-298, September 13–16, 1992

Paper No: DETC1992-0226

DOI: https://doi.org/10.1115/DETC1992-0226

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Topics: End effectors, Force control, Grasping, Simulation results, Stiffness

Proceedings Papers

Position and Force Control of Multibody Systems by Feedback Linearization

Christoph Woernle

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Flexible Mechanisms, Dynamics, and Analysis, 11-18, September 13–16, 1992

Paper No: DETC1992-0355

DOI: https://doi.org/10.1115/DETC1992-0355

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Topics: Feedback, Force control, Multibody systems, Dynamics (Mechanics), Grasping, Grippers, Legged locomotion, Robotics

Proceedings Papers

On the Kinematics of the UPS Wrist for Real Time Control

Jason J. Lee, Sun-Lai Chang

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 305-312, September 13–16, 1992

Paper No: DETC1992-0228

DOI: https://doi.org/10.1115/DETC1992-0228

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Topics: Kinematics, Real-time control, Design, Algorithms, Force control, Kinematic analysis, Machining

Proceedings Papers

Impact Control of Flexible Robots Using Sliding Mode Technique

Eming Chen

Proc. ASME. DETC93, 14th Biennial Conference on Mechanical Vibration and Noise: Vibrations and Dynamics of Robotic and Multibody Structures, 23-28, September 19–22, 1993

Paper No: DETC1993-0140

DOI: https://doi.org/10.1115/DETC1993-0140

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Topics: Robots, Manipulators, Motion control, Chatter, Dynamic models, End effectors, Force control, Nonlinear systems, Sensors, Shapes

Proceedings Papers

Axial Force Stabilization of Transverse Beam Vibration

Christopher D. Rahn, C. D. Mote, Jr.

Proc. ASME. DETC93, 14th Biennial Conference on Mechanical Vibration and Noise: Vibration and Control of Mechanical Systems, 29-34, September 19–22, 1993

Paper No: DETC1993-0217

DOI: https://doi.org/10.1115/DETC1993-0217

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Topics: Vibration, Dampers, Eigenvalues, Equations of motion, Force control, Geometry, Resonance, Springs, Stability

Proceedings Papers

Control of Constrained Manipulators With Redundant Position Variables and Contact Forces

Christoph Woernle

Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 427-436, September 11–14, 1994

Paper No: DETC1994-0352

DOI: https://doi.org/10.1115/DETC1994-0352

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Topics: Manipulators, Dynamics (Mechanics), Chain, Collisions (Physics), Damping, Force control, Nonlinear dynamics

Proceedings Papers

Passive Assembly of Non-Axisymmetric Rigid Parts

R. H. Sturges, Schitt Laowattana

Proc. ASME. DETC94, 4th Flexible Assembly Conference, 157-164, September 11–14, 1994

Paper No: DETC1994-0381

DOI: https://doi.org/10.1115/DETC1994-0381

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Topics: Manufacturing, Force control, Sensors

Proceedings Papers

Active Boundary Control of Elastic Cables

Catalin F. Baicu, Christopher D. Rahn

Proc. ASME. DETC95, Volume 3C: 15th Biennial Conference on Mechanical Vibration and Noise — Vibration Control, Analysis, and Identification, 143-147, September 17–20, 1995

Paper No: DETC1995-0568

DOI: https://doi.org/10.1115/DETC1995-0568

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Topics: Cables, Vibration, Control equipment, Boundary-value problems, Damping, Dynamics (Mechanics), Engineering simulation, Engineering systems and industry applications, Force control, Hamilton's principle

Proceedings Papers

Mechanical Design of a Non-Overconstrained Walking Machine

E. Fichter, B. Fichter

Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 789-794, September 17–20, 1995

Paper No: DETC1995-0103

DOI: https://doi.org/10.1115/DETC1995-0103

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Topics: Design engineering, Legged locomotion, Algorithms, Force control, Kinematics

Proceedings Papers

Design and Analysis of the Selective Compliance Device for Stacking Machine

Sun-Lai Chang

Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 979-984, September 17–20, 1995

Paper No: DETC1995-0129

DOI: https://doi.org/10.1115/DETC1995-0129

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Topics: Design, Machinery, Corners (Structural elements), Dimensions, Feedforward control, Force control, Linkages, Materials handling, Optimization, Rotation

Proceedings Papers

Tool Operation Based Operation Force Teaching: Extracting Force Control Strategy From Human’s Work in Virtual Environment

Toshitake Tateno, Masanori Igoshi

Proc. ASME. DETC-CIE96, Volume 6: 16th Computers in Engineering Conference, V006T06A069, August 18–22, 1996

Paper No: 96-DETC/CIE-1328

DOI: https://doi.org/10.1115/96-DETC/CIE-1328

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Topics: Force control, Teaching, Virtual reality, Robots, Databases, Force feedback, Simulation, Stress

Proceedings Papers

Active Balancing of Joint Forces in High-Speed Linkages by Redundant Drives and Learning Control

Thomas Thuemmel, Marc Brandl

Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A049, August 18–22, 1996

Paper No: 96-DETC/MECH-1572

DOI: https://doi.org/10.1115/96-DETC/MECH-1572

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Topics: Linkages, Force control, Servomotors, Actuators, Clearances (Engineering), Degrees of freedom, Delays, Engines, Friction, Inertia (Mechanics)

Proceedings Papers

On Force and Motion Control of Serial-Parallel Robots

Shih-Liang Wang

Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A056, August 18–22, 1996

Paper No: 96-DETC/MECH-1151

DOI: https://doi.org/10.1115/96-DETC/MECH-1151

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Topics: Motion control, Robots, Control algorithms, Algorithms, Force control, Linkages, Matlab, Stiffness, Stress, Torque

Proceedings Papers

Modeling and Pressure-Based Force Control of a Hydraulic Actuator

Scott M. Lyon, Mark S. Evans

Proc. ASME. DETC97, Volume 5: 17th Computers in Engineering Conference, V005T32A076, September 14–17, 1997

Paper No: DETC97/CIE-4466

DOI: https://doi.org/10.1115/DETC97/CIE-4466

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Topics: Actuators, Force control, Modeling, Pressure, Control equipment, Feedback, Friction, Pistons, Dynamic models, Feedforward control

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NARROW

A Semi-Autonomous Quadruped Robot for Performing Disinfection in Cluttered Environments

Fractional-Order Impedance Control Design for Robot Manipulator

Trajectory Planning for a 3-S P S-U Tensegrity Mechanism

Inverse Dynamic Models Used for Force Control of Compliant, Closed-Chain Mechanisms

The Optimum Design of a 6 DOF Fully-Parallel Micromanipulator for Enhanced Robot Accuracy

An Adaptive Control Subsystem for Quasi-Static Cutting Force Control in Turning

A Novel Theory on Grasping Force Control in a Multifingered Robotic Hand

Position and Force Control of Multibody Systems by Feedback Linearization

On the Kinematics of the UPS Wrist for Real Time Control

Impact Control of Flexible Robots Using Sliding Mode Technique

Axial Force Stabilization of Transverse Beam Vibration

Control of Constrained Manipulators With Redundant Position Variables and Contact Forces

Passive Assembly of Non-Axisymmetric Rigid Parts

Active Boundary Control of Elastic Cables

Mechanical Design of a Non-Overconstrained Walking Machine

Design and Analysis of the Selective Compliance Device for Stacking Machine

Tool Operation Based Operation Force Teaching: Extracting Force Control Strategy From Human’s Work in Virtual Environment

Active Balancing of Joint Forces in High-Speed Linkages by Redundant Drives and Learning Control

On Force and Motion Control of Serial-Parallel Robots

Modeling and Pressure-Based Force Control of a Hydraulic Actuator

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