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Keywords: Control
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Journal Articles
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2022, 14(2): 025001.
Paper No: JMR-21-1197
Published Online: September 23, 2021
... . [16] Lum , G. Z. , Mustafa , S. K. , Lim , H. R. , Lim , W. B. , Yang , G. , and Yeo , S. H. , 2010 , “ Design and Motion Control of a Cable-Driven Dexterous Robotic Arm ,” IEEE Conference on Sustainable Utilization and Development in Engineering and Technology , pp. 106...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021004.
Paper No: JMR-21-1174
Published Online: September 20, 2021
..., including the overall structure of the robot and the design details of the actuated robotic leg joints. For the motion control of the robot, a joint trajectory generator is formulated, with the purpose of generating a stable walking gait to provide reliable support to its human user in the robot’s future...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011005.
Paper No: JMR-21-1108
Published Online: July 6, 2021
...Benjamin Fasquelle; Parag Khanna; Christine Chevallereau; Damien Chablat; Denis Creusot; Stéphane Jolivet; Philippe Lemoine; Philippe Wenger This paper is devoted to the control and identification of a manipulator with three anti-parallelogram joints in series, referred to as X-joints. Each X-joint...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050910.
Paper No: JMR-21-1013
Published Online: July 6, 2021
... controllers generate feed-forward force commands without considering the actual torque or force feedback. This paper presents a whole-body controller using the actual joint torque measured from a torque sensor, which enables the quadrupedal robot to demonstrate both dynamic locomotion and reaction to external...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050909.
Paper No: JMR-21-1128
Published Online: July 6, 2021
... process and the possibility of evaluating rapidly design alternatives by using virtual prototypes. This article presents an adams / matlab cosimulation for the dynamics and control of a Single-Wheel pendulum ROBot (SWROB) with inertial locomotion actuation to characterize design solutions by means...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061004.
Paper No: JMR-20-1210
Published Online: May 31, 2021
...Chao Liu; Tarik Tosun; Mark Yim Accurate position sensing is important for state estimation and control in robotics. Reliable and accurate position sensors are usually expensive and difficult to customize. Incorporating them into systems that have very tight volume constraints such as modular...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050901.
Paper No: JMR-21-1016
Published Online: May 17, 2021
...Stefan Atay; Matthew Bryant; Gregory Buckner This paper presents the dynamic modeling and control of a bi-modal, multirotor vehicle that is capable of omnidirectional terrestrial rolling and multirotor flight. It focuses on the theoretical development of a terrestrial dynamic model and control...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050902.
Paper No: JMR-21-1027
Published Online: May 17, 2021
...Francisco Yandun; Miguel Torres-Torriti; Fernando Auat Cheein An accurate modeling, simulation, and estimation of the wheel-terrain interaction and its effects on a robot movement plays a key role in control and navigation tasks, specially in constantly changing environments. We study...
Journal Articles
Article Type: Design Innovation Paper
J. Mechanisms Robotics. October 2021, 13(5): 050903.
Paper No: JMR-21-1033
Published Online: May 17, 2021
... associated slip to improve the torque control algorithm used to tune the motors. The value of K c , K ϕ , and n were experimentally determined running a set of penetration tests using a plate to determine the pressure–sinkage relationship of the material, as described in Ref. [ 23...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2021, 13(2): 024501.
Paper No: JMR-19-1445
Published Online: February 23, 2021
... for determining the planar symmetric optimal box delivery motion (multi-task jobs). The design variables are cubic B-spline control points of joint angle profiles. The objective function is dynamic effort, i.e., the time integral of the square of all normalized joint torques. The optimization problem includes...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011019.
Paper No: JMR-20-1225
Published Online: November 16, 2020
.... The instantaneous nature of the double support period prevents nonimpulsive control during this period. However, if the double support period is expanded to finite time, it becomes overactuated. While it has been hypothesized that this overactuation during a finite-time double support period may improve disturbance...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2021, 13(1): 014504.
Paper No: JMR-20-1047
Published Online: November 13, 2020
... been developed using matlab ® and simulink ® and validated by comparison with the results obtained by adams ® software. A robust cascade PD regulator for controlling joint coordinates has been tuned providing a high accurate end-effector positioning. Finally, simulation results of four configurations...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011011.
Paper No: JMR-19-1360
Published Online: October 7, 2020
...Hoyul Lee; Zhenkai Hu; Youngjin Moon; Young-Hak Kim; Gi-Byoung Nam; Jaesoon Choi This paper proposes a catheter robot system for cardiac ablation therapy. The robot mechanism for actuating the catheter and the control methods of the catheter tip position will be suggested. The robot system consists...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061002.
Paper No: JMR-19-1348
Published Online: May 11, 2020
... of force attained through a macro-actuator with the high-frequency capabilities of a micro-actuator while preserving lightweight structure. The reported design and experiments confirm that excitation transmission by accurate force control can be achieved in the entire frequency range, despite...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051008.
Paper No: JMR-19-1274
Published Online: April 13, 2020
... are applied to the RAPR with a distributed-computed-torque proportional-derivative control scheme, allowing the RAPR’s mandible to follow a human subject’s chewing trajectory. TMJs loads are measured by force sensors, which are comparable with the computed loads from theoretical formulation. The TMJs loads...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051004.
Paper No: JMR-19-1330
Published Online: March 9, 2020
... (DoFs) of a cable-driven parallel robot using thin cables. The stability of the proposed control law is analyzed for a static and a moving end effector. The proposed control algorithm is validated experimentally on an eight-cable suspended robot prototype. Assuming massless cables, the dynamics...
Journal Articles
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2020, 12(3): 035001.
Paper No: JMR-19-1135
Published Online: February 18, 2020
... effectiveness. It does not only have a rapid and controllable adsorption-detachment capacity in reference to the magnetic conducting surface but also has low power consumption, large adsorption force, and reliable and safe performance. The FEA method is applied to analyze the mechanism of the structure...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021114.
Paper No: JMR-19-1419
Published Online: February 6, 2020
...-parallel hybrid robotic systems that are challenging to model and control due to the presence of various closed loops. Most model-based kinematic and dynamic modeling tools resolve loop closure constraints numerically and hence suffer from inefficiency and accuracy issues. Additionally, they do not exploit...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021108.
Paper No: JMR-19-1423
Published Online: February 6, 2020
... the use of a transducer for the measurement of the joint internal temperature; therefore it is well suitable for low-cost industrial applications, to improve the control performance or to predict the energy consumption. Experimental tests performed on a commercial six degrees-of-freedom (6 DOF...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031007.
Paper No: JMR-19-1052
Published Online: January 13, 2020
... walker provides a number of passive degrees-of-freedom (DoFs) to the pelvis that are used to smooth the hip rotations in such a way that the natural gait is not significantly affected, meanwhile, three actuated DoFs are actively controlled to assist patients with mobility disabilities. The walker first...