Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 10 of 10 for “"Compliance Control"”.
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Active compliance control strategies for multifingered robot hand
… shapes, sizes and stiffness. The inability to control the grasping force and finger stiffness can lead to unsafe grasping environment. Although many researches have been conducted to resolve the grasping issues, particularly for the object with different shape, size and stiffness, the grasping …
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State estimation for manipulation with compliance control and force sensing
… metric states. A low-level force and impedance controller is developed on a PR2 robot. Higher-dimensional generalizations, planning, and empirical results are the subject of future work.
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Noncompliance, financial reporting quality and director turnover
In this thesis, I examine the effects of noncompliance with securities laws on financial reporting quality and director turnover. The thesis consists of three main chapters. Chapter 2 introduces the enforcement actions brought by the Securities and Exchange Commission (SEC), based on which I …
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A variable compliance controller for cooperative vision guided robotic assembly
… during assembly. Typically, a position or force controlled robotic insertion system is fitted with a specialized mechanically compliant wrist, known as a remote center compliance (RCC) device, to allow the system to accommodate the forces. Using design principles similar to those developed for …
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The Decision to Comply With Workplace Law: A Mixed-Methods Investigation of Human Resource Practitioners
… empirical research has explored HR and legal compliance. This mixed-methods dissertation aims to increase our understanding of how and why Canadian HR practitioners decide to comply (or not comply) with legal requirements. Drawing on the Reasoned Action Approach as a theoretical framework, …
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Adaptive Torque Control of a Novel 3D-Printed Humanoid Leg
… with humans and obstacles, robots require active compliance control with force feedback. In these applications the control law typically includes full dynamics compensation to decouple the joints and cancel out nonlinearities, for which a high-fidelity model of the robot is required. In the case …
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On Human to Robot Skill Transfer for Robust Grasping and Dexterous Manipulation
… motion capture, interface design, mapping, and control. On a higher level of system autonomy, a method of enhancing programming by demonstration is proposed, utilising path optimisation and local replanning to allow for efficient teaching and execution of assembly tasks. The work then advances …
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Methods for Kinematic Analysis and Optimization of Overactuated Serial and Parallel Structures
… methods for the optimization, analysis, and control of mixed serial-parallel structures known as SP-Stacks. A SP-Stack is a series of Stewart Platforms (SPs) linked via their top and bottom plates to create a serial chain of parallel mechanisms. SP-Stacks are unique in their bridging of the …
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COMPLIANT END-EFFECTOR COUPLING FOR ROBOTIC ASSEMBLY
Many manipulation tasks require compliance, i.e., the robot's ability to comply with the environment and accomplish force as well as position control. Examples of such tasks are constrained motion, and tasks associated with touch or feel in fine assembly. Few compliance related tasks have been …