In this paper, we present a robotic assistance scheme which allows for impedance compensation with stiffness, damping, and mass parameters for hand manipulation tasks and we apply it to manual welding. The impedance compensation does not assume a preprogra ...
Institute of Electrical and Electronics Engineers2016
The mechanical interaction between adherent cells and their substrate relies on the formation of adhesion sites and on the stabilization of contractile acto-myosin bundles, or stress fibers. The shape of the cell and the orientation of these fibers can be ...
This paper presents a study of end-point impedance measurement at human hand, with professional and novice manual welders when they are performing Tungsten Inert Gas (TIG) welding interactively with the KUKA Light Weight Robot Arm (LWR). The welding torch ...
A model for the yield stress of particulate suspensions is presented that incorporates microstructural parameters taking into account volume fraction of solids, particle size, particle size distribution, maximum packing, percolation threshold, and interpar ...
A new laser micro-spot welding procedure for copper has been developed in order to eliminate the shortcomings of existing techniques based on laser pulse shaping or in-situ temperature control. This procedure consists in dividing the welding process in fou ...
