概括

这项研究增强了机器人手臂控制器,以在非结构化任务中实现更安全的人机交互. 虚拟质量控制器可以提高稳定性和强度放大,这对于协作机器人 (cobots) 来说至关重要.

相关概念视频

Centrifugal Force01:06

Centrifugal Force

Pseudo forces, or fictitious forces, appear to act on an object in motion in a rotating frame of reference with respect to an inertial reference frame. These forces are not real forces but rather mathematical constructs and are introduced to simplify calculations in a non-inertial frame while using Newton's laws of motion. Common examples of pseudo forces include centrifugal, Coriolis, and Euler forces. These forces are essential in fields such as mechanics, astrophysics, and fluid...
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Three-Dimensional Force System01:30

Three-Dimensional Force System

In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
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Muscle Stimulation Frequency01:22

Muscle Stimulation Frequency

The contraction strength of muscles is regulated by motor neurons, which modulate the frequency of action potentials dispatched to the motor units based on the body's requirements. This process of varying the muscle stimulation frequency allows muscles to contract with a force that is precisely tailored to the needs of the moment, whether lifting a feather or a heavy box.
Wave summation
At low firing rates, motor neurons induce individual twitch contractions in muscle fibers. These twitches...
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Static and Kinetic Frictional Force01:05

Static and Kinetic Frictional Force

One of the simpler characteristics of sliding friction is that it is parallel to the contact surfaces between systems, and is always in a direction that opposes the motion or attempted motion of the systems relative to each other. If two systems are in contact and moving relative to one another, then the friction between them is called kinetic friction. For example, kinetic friction slows a hockey puck sliding on ice.
However, if two systems are in contact and are stationary relative to one...
16.2K
Principle of Virtual Work: Problem Solving01:13

Principle of Virtual Work: Problem Solving

The principle of virtual work is an essential concept in the field of mechanics and engineering. This is used to solve problems related to the equilibrium of a structure or system. It is based on the assumption that if a system is in equilibrium, the work done by all the forces during a virtual displacement is zero. This principle is applied by considering virtual displacements of the system and the corresponding work done by internal and external forces.
To apply the principle of virtual work,...
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Inertia Tensor01:24

Inertia Tensor

The concept of the inertia tensor is employed to depict the mass distribution and rotational inertia of a solid or rigid object. This tensor is expressed through a three-by-three matrix. Each component within this matrix corresponds to varying moments of inertia about specific axes.
The diagonal components of the inertia tensor matrix represent the moments of inertia concerning the principal axes of the object. These primary axes are defined as the axes where the object experiences the least...
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