相关实验视频

Updated: Jul 22, 2025

Method to Measure Tone of Axial and Proximal Muscle
10:41

Method to Measure Tone of Axial and Proximal Muscle

Published on: December 14, 2011

17.6K

高精度的动态扭矩控制高刚度的执行器为人形

Yaliang Liu1, Xuechao Chen1, Zhangguo Yu2

  • 1School of Mechatronical Engineering, Beijing Institute of Technology (BIT), Beijing 100081, China; The Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China.

ISA transactions
|July 20, 2023
PubMed
概括

一个新的高精度动态扭矩控制 (HDTC) 提高了人形机器人高刚度执行器的运动性能. 这种方法提高了控制精度和适应性,这对于先进的机器人应用至关重要.

关键词:
动态电流控制 (DCC) 是指动态电流控制.高刚性执行器 (HSA) 是指高刚性执行器.人形机器人的人形机器人内部模型控制 (IMC) 是指内部模型控制.扭矩控制器的扭矩控制器

更多相关视频

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

9.2K
Rapid Manufacturing of Thin Soft Pneumatic Actuators and Robots08:47

Rapid Manufacturing of Thin Soft Pneumatic Actuators and Robots

Published on: November 8, 2019

7.7K

相关概念视频

Torque Free Motion01:15

Torque Free Motion

The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
516
Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
142
Mechanical Systems01:22

Mechanical Systems

Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
240
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
518
Controller Configurations01:22

Controller Configurations

Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
126
Deformation in a Circular Shaft01:10

Deformation in a Circular Shaft

One of the distinctive characteristics of circular shafts is their ability to maintain their cross-sectional integrity under torsion. In other words, each cross-section continues to exist as a flat, unaltered entity, simply rotating like a solid, rigid slab. To understand the distribution of shearing stress within such a shaft, consider a cylindrical section inside this circular shaft. This section has a length of L and a radius of R, with one end fixed. The radius of the cylindrical section is...
389