Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/77760
Title: Improving force control through end-effector vibration reduction and variable stiffness joint design
Authors: LI RENJUN
Keywords: force control, series macro mini, variable stiffness actuator
Issue Date: 13-Jan-2014
Citation: LI RENJUN (2014-01-13). Improving force control through end-effector vibration reduction and variable stiffness joint design. ScholarBank@NUS Repository.
Abstract: In this thesis, the author proposed two approaches to improve robotic force control performance. The first method of improving force control performance from the manipulator level involves using a conventional manipulator to carry a high performance end-effector. A design and control guideline named Zero Coupling Impedance criterion has been proposed to handle internal vibration. It decouples the high performance mini manipulator from the conventional macro manipulator so that the performance of the mini will not be limited by the macro. The second method aims to modify the conventional manipulator design from joint level such that it is suitable for force control. A new variable stiffness joint has been proposed. The novel variable stiffness joint has a linear load-displacement relationship, with stiffness ranged from zero to infinity.
URI: http://scholarbank.nus.edu.sg/handle/10635/77760
Appears in Collections:Ph.D Theses (Open)

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