Lecture

Selective Compliance Control

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Description

This lecture covers the concepts of force control, position control, and hybrid position and force control in robotic manipulators. It explains the implementation of selective compliance in robots, focusing on the SCARA robot. The lecture also delves into haptic control, virtual environments, mechanical impedance, and impedance control. It discusses the Z-Width, electrical impedance analogy, and the importance of achieving a broad Z-Width for haptic devices. Additionally, it explores the effects of feedback delay, open-loop impedance control, and impedance control with model compensation. The lecture concludes with insights on achieving good performance in haptic devices and factors affecting the Z-Width of a haptic display.

Official source

Related concepts (32)

Robotic arm

A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by joints allowing either rotational motion (such as in an articulated robot) or translational (linear) displacement. The links of the manipulator can be considered to form a kinematic chain. The terminus of the kinematic chain of the manipulator is called the end effector and it is analogous to the human hand.

Manipulator (device)

In robotics, a manipulator is a device used to manipulate materials without direct physical contact by the operator. The applications were originally for dealing with radioactive or biohazardous materials, using robotic arms, or they were used in inaccessible places. In more recent developments they have been used in diverse range of applications including welding automation, robotic surgery and in space. It is an arm-like mechanism that consists of a series of segments, usually sliding or jointed called cross-slides, which grasp and move objects with a number of degrees of freedom.

Virtual reality

Virtual reality (VR) is a simulated experience that employs pose tracking and 3D near-eye displays to give the user an immersive feel of a virtual world. Applications of virtual reality include entertainment (particularly video games), education (such as medical or military training) and business (such as virtual meetings). Other distinct types of VR-style technology include augmented reality and mixed reality, sometimes referred to as extended reality or XR, although definitions are currently changing due to the nascence of the industry.

Motion control

Motion control is a sub-field of automation, encompassing the systems or sub-systems involved in moving parts of machines in a controlled manner. Motion control systems are extensively used in a variety of fields for automation purposes, including precision engineering, micromanufacturing, biotechnology, and nanotechnology. The main components involved typically include a motion controller, an energy amplifier, and one or more prime movers or actuators. Motion control may be open loop or closed loop.

Industrial robot

An industrial robot is a robot system used for manufacturing. Industrial robots are automated, programmable and capable of movement on three or more axes. Typical applications of robots include welding, painting, assembly, disassembly, pick and place for printed circuit boards, packaging and labeling, palletizing, product inspection, and testing; all accomplished with high endurance, speed, and precision. They can assist in material handling.

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