The importance of robot contact operation control has been increasing recently due to a need for robots interact more with the outside world. However, traditional compliance cannot take both transient force overshoots and steady-state tracking error problems into account. To address this problem, paper aims design dynamic adaptive hybrid impedance (DAHI) controller deal in uncertain environments (e.g., polishing scenarios). Under premise analyzing response (HI) (AHI) control, DAHI which...

Purpose The purpose of this paper is to take transient contact force response, overshoots and steady-state tracking error problems into account form an excellent controller. Design/methodology/approach basic impedance function with a pre-PID tuner designed improve the response. A dynamic adaptive adjustment that combines advantages hybrid control presented achieve both suppressing ability. Findings introduced can more than pure in aspects converging desired value reducing overshoots....

The topological interface state for an elastic wave in a one-dimensional system, as reported the literature, mainly occurs through Bragg scattering, making it difficult to achieve subwavelength control and flexible tunability. Here, inspired by band-folding mechanism, this paper confirms that can likewise be excited local resonance. phase transition is accomplished purposely arranging locations of resonators. system composed uniform thin beam with periodically attached resonators made from...

This paper reports the realization of harvesting acoustic energy based on topological interface mode a 1D phononic crystal (PC) tube. When incidence sound is at eigenfrequency mode, localized that provides feasibility for realizing (AEH) by using piezoelectric cantilever plate. The results indicate there 66 times pressure gain and peak generated voltage observed mode. study opens new avenue AEH modes PCs.

Purpose With the increasing demands of industrial applications, it is imperative for robots to accomplish good contact-interaction with dynamic environments. Hence, purpose this research propose an adaptive fractional-order admittance control scheme realize a robot–environment contact high accuracy, small overshoot and fast response. Design/methodology/approach Fractional calculus introduced reconstruct classical model in scheme, which can more accurately describe complex physical...

Abstract Collaborative robots are becoming intelligent assistants of human in industrial settings and daily lives. Dynamic model identification is an active topic for collaborative because it can provide effective ways to achieve precise control, fast collision detection smooth lead-through programming. In this research, improved iterative approach with a comprehensive friction dynamic proposed when the joint velocity, temperature load torque effects considered. Experiments conducted on AUBO...

In its working process, a high-speed motorized spindle bearing-rotor system is affected by variety of vibration excitations, which severely affect the machining precision and reliability. view problems in active control current smart-material-based systems based on structural layout piezoelectric device controlled system, bearing was directly connected to actuator via sleeve, improved efficiency stack actuator. Furthermore, improve robustness system’s performance under different external...

The motorized spindle is the core component of CNC machine tools, and vibration it reduces machining precision service life tools. Owing to fast response, large output force, displacement piezoelectric stack, often used as actuator in active control spindle. A self-sensing (SSA) can reduce cost system simplify structure by eliminating use a sensor, because SSA have both actuating sensing functions at same time. signal separation method based on bridge circuit widely applied its simple...

Gait event detection is a crucial part in the motion control and performance evaluation of exoskeleton robots. To detect whole gait events conveniently effectively, wearable system based on infrared distance sensors proposed. The heel toe clearances were used for first time online all six one cycle. Smart shoes integrated with three designed to obtain stable signals, which then converted into effective foot posture information. Moreover, an algorithm was proposed using local search windows...

Abstract A novel fault diagnosis method based on improved multiscale range entropy and hierarchical prototype (HP) is proposed in this paper. Firstly, considering that cannot analyze the complexity of time series from multiple perspectives, coarse-grained process combined with entropy. In addition, to make more comprehensive, selection its starting point improved. Secondly, extract feature information, dimension reduction eigenvectors carried out by using singular value decomposition....

With the development of global economy, demand for manufacturing is increasing. Accordingly, human–robot collaborative assembly has become a research hotspot. This paper aims to solve efficiency problems inherent in traditional human-machine collaboration. Based on eye–hand and finite state machines, method proposed. The determines human’s intention by collecting posture eye data, which can control robot grasp an object, move it, perform co-assembly. robot’s automatic path planning based...

In situations where photovoltaic (PV) systems are exposed to varying light intensities, the conventional maximum power point tracking (MPPT) control algorithm may become trapped in a local optimal state. order address this issue, two-step MPPT strategy is suggested utilizing an improved tuna swarm optimization (ITSO) along with adaptive perturbation and observation (AP&O) technique. For sake of enhancing population diversity, ITSO initialized by SPM chaos mapping population. addition, it...

To date, phononic crystals/metamaterials normally adopt classical periodic configurations, and optimization strategies for them are based primarily on dispersion relations from a repeated unit cell. In this study, frequency response function (FRF) scheme is presented locally resonant metamaterial beam that considers both the frequencies distribution locations of resonators. Three objectives involving (1) broadband, (2) multi-band, (3) high-attenuation characteristics exploited as study...

The friction loss of an angular contact ball bearing is a key factor restricting the development high-speed motorized spindle. To quantitatively calculate effects oil–air lubrication parameters on bearings, drag resistance and churning generated by movement rolling elements in lubricant are theoretically modeled percentage volume cavity (XCAV) used to characterize effects. bearings tested two novel methods: free deceleration method energy-balance method. experimental results show that...

This paper presents an elastic metamaterial shaft with a new class of stack-like resonators consisting bonded periodically annular rubber and lead rings that support the formation ultra-low-frequency vibration band gaps because reduced stiffness resulting from discretized rings. By using finite element method, structures transmission power spectra proposed are investigated. Subsequently, mechanism is illustrated by analyzing displacement fields extracted mode shapes at edge gaps. Lastly,...

Abstract Achieving faster convergence, smaller transient overshoots, and higher steady‐state tracking accuracy is essential to improve the efficiency, robustness, applicability of robotic manipulators. This article introduces an innovative adaptive fixed‐time uniform prescribed performance controller for manipulator facing model uncertainties unknown disturbances. Initially, by designing a modified function inspired variable superposition, this study redefines unified control problem into...

Mitigating collision is a fundamental issue in contact problems, and required to ensure the safety of robotic cell. Research into problem between robots their environment divided two parts: one uses environmental model parameter estimation, other robot force control method. There are main problems with this research One that levels not effectively combined form complete solution for practice. The on excessive phase has been studied depth control. In paper, sensing-executing bionic system...

With the emergence of industrial robots in recent decades, advancing technology that drives human-robot interaction has become a research hotspot. However, control using human gestures presented some challenges when applied to environment. For example, robot is controlled with hand motion, movement space may be smaller than robot's working space, making it difficult meet and accuracy requirements. The herein was centered on building interactive scenarios through unit software, gesture...