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Derive and explain the effect of dynamic motor on force control and Hybrid position for coordinated...

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Mechanical Engineering

Derive and explain the effect of dynamic motor on force controland Hybrid position for coordinated robots Answer expected: i)Definition, ii) Derivation, and iii) remarks

note: please stick to the question's concept only please dont goout of the box will rate the answer for sure if its perfect thankyou:)

Answer & Explanation Solved by verified expert
3.9 Ratings (712 Votes)
Answer 1A new conceptually simple approach to controlling compliantmotions of a robotmanipulator is presented The hybrid technique described combinesforce andtorque information with positional data to satisfy simultaneousposition and forcetrajectory constraints specified in a convenient task relatedcoordinate systemAnalysis simulation and experiments are used to evaluate thecontrollers ability toexecute trajectories using feedback from a force sensing wrist andfrom positionsensors found in the manipulator joints The results show that themethod achievesstable accurate control of force and position trajectories for avariety of testconditionAnswer    See Answer
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