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Duc Thien Tran, Tien Dat Nguyen, Minh Khiem Tran and Kyoung Kwan Ahn
A control method for a cable-driven robot in a teleoperation system is proposed using the hardware-in-the-loop (HIL) simulation technique. The main components of the teleoperated robotic system are a haptic device, also called a delta robot, and a cable-...
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Duc-Thien Tran, Hoai-Vu-Anh Truong and Kyoung Kwan Ahn
In this paper, an adaptive robust control is investigated in order to deal with the unmatched and matched uncertainties in the manipulator dynamics and the actuator dynamics, respectively. Because these uncertainties usually include smooth and unsmooth f...
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Duc-Thien Tran, Minh-Nhat Nguyen and Kyoung Kwan Ahn
An electrohydraulic elastic manipulator (EEM) is a kind of variable stiffness system (VSS). The equilibrium position and stiffness controller are the two main problems which must be considered in the VSS. When the system stiffness is changed for a specif...
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