Impedance control of secondary regulated hydraulic crane in the water entry phase

2018 ◽  
Vol 169 ◽  
pp. 134-143 ◽  
Author(s):  
Jinbo Wu ◽  
Zeyu Yang ◽  
Donglai Wu
Keyword(s):  
Impedance Control ◽  
Water Entry ◽  
Hydraulic Crane

Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

2014 ◽  
Vol 672-674 ◽  
pp. 1770-1773 ◽  
Author(s):  
Fu Cheng Cao ◽  
Li Min Du
Keyword(s):  
Dynamic Response ◽  
Sliding Mode Control ◽  
Lower Limb ◽  
Control Method ◽  
Sliding Mode ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

Numerical simulation of the effect of waves on cavity dynamics for oblique water entry of a cylinder

2020 ◽  
Vol 32 (6) ◽  
pp. 1178-1190
Author(s):  
Gui-yong Zhang ◽  
Zhao Hou ◽  
Tie-zhi Sun ◽  
Hai-peng Wei ◽  
Ning Li ◽  
...  
Keyword(s):  
Numerical Simulation ◽  
Water Entry

scholarly journals Simulation of ground bearing pressure profile under hydraulic crane outrigger mats for the verification of 16-point combined loading

2021 ◽  
Vol 180 ◽  
pp. 482-491
Author(s):  
Ghulam Muhammad Ali ◽  
Asif Mansoor ◽  
Shuai Liu ◽  
Jacek Olearczyk ◽  
Ahmed Bouferguene ◽  
...  
Keyword(s):  
Pressure Profile ◽  
Combined Loading ◽  
Hydraulic Crane

The study of impedance control of lower extremity exoskeleton

2020 ◽  
Author(s):  
Yali Han ◽  
Jinfei Shi ◽  
Han Sun ◽  
Weijie Zhou ◽  
Hongyao Guan ◽  
...  
Keyword(s):  
Lower Extremity ◽  
Impedance Control

Different closure patterns of the hollow cylinder cavities with various water-entry velocities

2021 ◽  
Vol 221 ◽  
pp. 108526
Author(s):  
Yu Hou ◽  
Zhengui Huang ◽  
Zhihua Chen ◽  
Zeqing Guo ◽  
Lei Han
Keyword(s):  
Hollow Cylinder ◽  
Water Entry

scholarly journals Sensorless environment stiffness and interaction force estimation for impedance control tuning in robotized interaction tasks

2021 ◽  
Author(s):  
Loris Roveda ◽  
Dario Piga
Keyword(s):  
Impedance Control ◽  
Interaction Force ◽  
Industrial Robots ◽  
Force Estimation ◽  
Interaction Control ◽  
Stiffness Properties ◽  
Implementation Effort ◽  
Coupling Dynamics ◽  
And Control ◽  
Assembly Tasks

AbstractIndustrial robots are increasingly used to perform tasks requiring an interaction with the surrounding environment (e.g., assembly tasks). Such environments are usually (partially) unknown to the robot, requiring the implemented controllers to suitably react to the established interaction. Standard controllers require force/torque measurements to close the loop. However, most of the industrial manipulators do not have embedded force/torque sensor(s) and such integration results in additional costs and implementation effort. To extend the use of compliant controllers to sensorless interaction control, a model-based methodology is presented in this paper. Relying on sensorless Cartesian impedance control, two Extended Kalman Filters (EKF) are proposed: an EKF for interaction force estimation and an EKF for environment stiffness estimation. Exploiting such estimations, a control architecture is proposed to implement a sensorless force loop (exploiting the provided estimated force) with adaptive Cartesian impedance control and coupling dynamics compensation (exploiting the provided estimated environment stiffness). The described approach has been validated in both simulations and experiments. A Franka EMIKA panda robot has been used. A probing task involving different materials (i.e., with different - unknown - stiffness properties) has been considered to show the capabilities of the developed EKFs (able to converge with limited errors) and control tuning (preserving stability). Additionally, a polishing-like task and an assembly task have been implemented to show the achieved performance of the proposed methodology.

Effect of upper layer immiscible liquids on the water entry phenomena

2021 ◽  
Vol 226 ◽  
pp. 108864
Author(s):  
Chunyong Fan ◽  
Xiangwei Dong ◽  
Zengliang Li
Keyword(s):  
Water Entry ◽  
Immiscible Liquids
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