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.
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Showing 1 to 20 of 101 for “"Force control"”.
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FORCE CONTROL OF ROBOT MANIPULATORS
… manipulators. In recent years, the concept of force feedback is generally accepted to be essential for tasks where the robot is in contact with the workpiece. A properly applied force can reduce the positioning accuracy necessary to perform a given task and in fact make possible assembly tasks …
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Robotic Assembly and Contact Force Control
… interaction with the environment, position control of the robot might be insufficient due to the fact that it is hard, or too costly, to achieve an environment that is structured enough. This is due to inherent uncertainties, such as part variations and inexact gripping. One example of a …
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Modeling robot dynamic performance for endpoint force control
Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1988.
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Rapid Adaptation of Reactive Force Control When Lifting Objects
The control of object manipulation tasks involves the close interplay of predictive and reactive control mechanisms. For example, when lifting an object, people typically predict the weight based on object size and material as well as sensorimotor memory obtained from previous lifts of the object. …
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On Robotic Assembly using Contact Force Control and Estimation
Force sensing provides robots the capability to accomplish tasks where physical interaction with the environment is required, such as assembly. Small position uncertainties can then be corrected for by sensing the contact forces. This thesis considers the problem of force-controlled assembly, …
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Closed loop force control for a robotic grinding system
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1986.
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Trajectory and force control of a direct drive arm
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1986.
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Force control and collision avoidance strategies for kinematically redundant manipulators
The problem of position control of non-redundant manipulators was addressed during the initial stages of development of robotics in the 70's. In the 80's, extension of robotic applications to new non-conventional areas, such as space, underwater, hazardous environments, and microrobotics, brought …
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A network approach to force control in robotics and teleoperation
… theory to problems in robot and teleoperator control. Network models, referred to as Hilbert networks, are developed which extend the definition of standard electrical circuit elements, operating over $\IR$, to higher dimensional spaces.
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A minimum energy solution for muscle force control during walking.
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1979.
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The design and construction of a modular force control actuator
Thesis (B.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1996.
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The impact of relationship selling on the sales force control function.
Sales management control and sales force performance has received substantial attention by researchers in the past decades. Researchers have been investigating the construct of sales control, its antecedents and its consequences on both the individual sales person and on sales force performance. …
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Force control of heavy lift manipulators for high precision insertion tasks
… This thesis deals with the development of a control system for a robot being built for this purpose. The task for this robot is to lift heavy payloads while performing complex insertion tasks. This task must be completed on the deck of a naval vessel where possible disturbances include wind, …
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Joint and actuator design for enhanced stability in robotic force control
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1990.
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Force control for one degree of freedom haptic device using PID Controller
… exercise. It is improved to perform a force control mechanism with few types of conventional controller which are Proportional (P) controller, Proportional-Integral (PI) controller, Proportional-Derivative (PD) controller and Proportional-Integral-Derivative (PID) controller. The …
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Force control of electro-hydraulic actuators in an underwater fish-like vehicle
Thesis (M.Eng. and S.B.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2000.
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Human haptic interaction with soft objects : discriminability, force control, and contact visualization
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1996.
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Force control in flapping foils using in-line motion and passive pitch
… propulsion at the cost of parasitic oscillatory forces. The addition of in-line motion to a flapping foil trajectory can improve the control of the fluid force. Previous work has shown that by actuating the heave, surge, and pitch motions of a foil and iteratively optimizing the results, the lift …
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Design and analysis of series elasticity in closed-loop actuator force control
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000.
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