Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Engineering
Trajectory Control Of A Wheeled Robot Using Interaction Forces For Intuitive Overground Human-Robot Interaction, George Leno Holmes Jr.
Trajectory Control Of A Wheeled Robot Using Interaction Forces For Intuitive Overground Human-Robot Interaction, George Leno Holmes Jr.
Doctoral Dissertations
"Effective and intuitive physical human robot interaction (pHRI) requires an understanding of how humans communicate movement intentions with one another. It has been suggested that humans can guide another human by hand through complex tasks using force information only. However, no clear and applicable paradigm has been set forth to understand these relationships. While the human partner can readily understand and adhere to this expectation, it would be difficult for anyone to explain their intuitive motions with strict rules, algorithms, or steps. Uncovering such a procedural framework for the control of robotic systems to execute expected performance simply from force …
Volumetric Error Compensation For Industrial Robots And Machine Tools, Le Ma
Volumetric Error Compensation For Industrial Robots And Machine Tools, Le Ma
Doctoral Dissertations
“A more efficient and increasingly popular volumetric error compensation method for machine tools is to compute compensation tables in axis space with tool tip volumetric measurements. However, machine tools have high-order geometric errors and some workspace is not reachable by measurement devices, the compensation method suffers a curve-fitting challenge, overfitting measurements in measured space and losing accuracy around and out of the measured space. Paper I presents a novel method that aims to uniformly interpolate and extrapolate the compensation tables throughout the entire workspace. By using a uniform constraint to bound the tool tip error slopes, an optimal model with …