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Impedance Control
Impedance control is an approach to dynamic control relating force and position. It is often used in applications where a manipulator interacts with its environment and the force position relation is of concern. Examples of such applications include humans interacting with robots, where the force produced by the human relates to how fast the robot should move/stop. Simpler control methods, such as position control or torque control, perform poorly when the manipulator experiences contacts. Thus impedance control is commonly used in these settings. Mechanical impedance is the ratio of force output to velocity input. This is analogous to electrical impedance, that is the ratio of voltage output to current input (e.g. resistance is voltage divided by current). A "spring constant" defines the force output for a displacement (extension or compression) of the spring. A " damping constant" defines the force output for a velocity input. If we control the impedance of a mechanism, we ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Manipulator (device)
In robotics, a manipulator is a device used to manipulate materials without direct physical contact by the operator. The applications were originally for dealing with radioactive or biohazardous materials, using robotic arms, or they were used in inaccessible places. In more recent developments they have been used in diverse range of applications including welding automation, robotic surgery and in space. It is an arm-like mechanism that consists of a series of segments, usually sliding or jointed called cross-slides, which grasp and move objects with a number of degrees of freedom. In industrial ergonomics a manipulator is a lift-assist device used to help workers lift, maneuver and place articles in process that are too heavy, too hot, too large or otherwise too difficult for a single worker to manually handle. As opposed to simply vertical lift assists (cranes, hoists, etc.) manipulators have the ability to reach in to tight spaces and remove workpieces. A good example ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Mechanical Impedance
Mechanical impedance is a measure of how much a structure resists motion when subjected to a harmonic force. It relates forces with velocities acting on a mechanical system. The mechanical impedance of a point on a structure is the ratio of the force applied at a point to the resulting velocity at that point. Mechanical impedance is the inverse of mechanical admittance or mobility. The mechanical impedance is a function of the frequency \omega of the applied force and can vary greatly over frequency. At resonance frequencies, the mechanical impedance will be lower, meaning less force is needed to cause a structure to move at a given velocity. A simple example of this is pushing a child on a swing. For the greatest swing amplitude, the frequency of the pushes must be near the resonant frequency of the system. \mathbf(\omega) = \mathbf(\omega)\mathbf(\omega) Where, \mathbf is the force vector, \mathbf is the velocity vector, \mathbf is the impedance matrix and \omega is the angul ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Force
In physics, a force is an influence that can cause an Physical object, object to change its velocity unless counterbalanced by other forces. In mechanics, force makes ideas like 'pushing' or 'pulling' mathematically precise. Because the Magnitude (mathematics), magnitude and Direction (geometry, geography), direction of a force are both important, force is a Euclidean vector, vector quantity. The SI unit of force is the newton (unit), newton (N), and force is often represented by the symbol . Force plays an important role in classical mechanics. The concept of force is central to all three of Newton's laws of motion. Types of forces often encountered in classical mechanics include Elasticity (physics), elastic, frictional, Normal force, contact or "normal" forces, and gravity, gravitational. The rotational version of force is torque, which produces angular acceleration, changes in the rotational speed of an object. In an extended body, each part applies forces on the adjacent pa ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Velocity
Velocity is a measurement of speed in a certain direction of motion. It is a fundamental concept in kinematics, the branch of classical mechanics that describes the motion of physical objects. Velocity is a vector (geometry), vector Physical quantity, quantity, meaning that both magnitude and direction are needed to define it. The Scalar (physics), scalar absolute value (Magnitude (mathematics), magnitude) of velocity is called , being a coherent derived unit whose quantity is measured in the International System of Units, SI (metric system) as metres per second (m/s or m⋅s−1). For example, "5 metres per second" is a scalar, whereas "5 metres per second east" is a vector. If there is a change in speed, direction or both, then the object is said to be undergoing an ''acceleration''. Definition Average velocity The average velocity of an object over a period of time is its Displacement (geometry), change in position, \Delta s, divided by the duration of the period, \Delt ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Electrical Impedance
In electrical engineering, impedance is the opposition to alternating current presented by the combined effect of Electrical_resistance, resistance and Electrical_reactance, reactance in a electrical circuit, circuit. Quantitatively, the impedance of a two-terminal Electrical element, circuit element is the ratio of the phasor, complex representation of the Sine wave, sinusoidal voltage between its terminals, to the complex representation of the current flowing through it. In general, it depends upon the frequency of the sinusoidal voltage. Impedance extends the concept of Electrical resistance, resistance to alternating current (AC) circuits, and possesses both Euclidean vector, magnitude and Phase (waves), phase, unlike resistance, which has only magnitude. Impedance can be represented as a complex number, with the same units as resistance, for which the SI unit is the ohm (). Its symbol is usually , and it may be represented by writing its magnitude and phase in the Polar ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Voltage
Voltage, also known as (electrical) potential difference, electric pressure, or electric tension, is the difference in electric potential between two points. In a Electrostatics, static electric field, it corresponds to the Work (electrical), work needed per unit of Electric charge, charge to move a positive Test particle#Electrostatics, test charge from the first point to the second point. In the SI unit, International System of Units (SI), the SI derived unit, derived unit for voltage is the ''volt'' (''V''). The voltage between points can be caused by the build-up of electric charge (e.g., a capacitor), and from an electromotive force (e.g., electromagnetic induction in a Electric generator, generator). On a macroscopic scale, a potential difference can be caused by electrochemical processes (e.g., cells and batteries), the pressure-induced piezoelectric effect, and the thermoelectric effect. Since it is the difference in electric potential, it is a physical Scalar (physics ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Electric Current
An electric current is a flow of charged particles, such as electrons or ions, moving through an electrical conductor or space. It is defined as the net rate of flow of electric charge through a surface. The moving particles are called charge carriers, which may be one of several types of particles, depending on the Electrical conductor, conductor. In electric circuits the charge carriers are often electrons moving through a wire. In semiconductors they can be electrons or Electron hole, holes. In an Electrolyte#Electrochemistry, electrolyte the charge carriers are ions, while in Plasma (physics), plasma, an Ionization, ionized gas, they are ions and electrons. In the International System of Units (SI), electric current is expressed in Unit of measurement, units of ampere (sometimes called an "amp", symbol A), which is equivalent to one coulomb per second. The ampere is an SI base unit and electric current is a ISQ base quantity, base quantity in the International System of Qua ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Electrical Resistance And Conductance
The electrical resistance of an object is a measure of its opposition to the flow of electric current. Its Multiplicative inverse, reciprocal quantity is , measuring the ease with which an electric current passes. Electrical resistance shares some conceptual parallels with mechanical friction. The International System of Units, SI unit of electrical resistance is the ohm (), while electrical conductance is measured in siemens (unit), siemens (S) (formerly called the 'mho' and then represented by ). The resistance of an object depends in large part on the material it is made of. Objects made of electrical insulators like rubber tend to have very high resistance and low conductance, while objects made of electrical conductors like metals tend to have very low resistance and high conductance. This relationship is quantified by electrical resistivity and conductivity, resistivity or conductivity. The nature of a material is not the only factor in resistance and conductance, howev ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Spring Constant
In physics, Hooke's law is an empirical law which states that the force () needed to extend or compress a spring (device), spring by some distance () Proportionality (mathematics)#Direct_proportionality, scales linearly with respect to that distance—that is, where is a constant factor characteristic of the spring (i.e., its stiffness), and is small compared to the total possible deformation of the spring. The law is named after 17th-century British physicist Robert Hooke. He first stated the law in 1676 as a Latin anagram. He published the solution of his anagram in 1678 as: ("as the extension, so the force" or "the extension is proportional to the force"). Hooke states in the 1678 work that he was aware of the law since 1660. Hooke's equation holds (to some extent) in many other situations where an elasticity (physics), elastic body is Deformation (physics), deformed, such as wind blowing on a tall building, and a musician plucking a string (music), string of a guitar ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Damping Constant
In physical systems, damping is the loss of energy of an oscillating system by dissipation. Damping is an influence within or upon an oscillatory system that has the effect of reducing or preventing its oscillation. Examples of damping include viscous damping in a fluid (see viscous drag), surface friction, radiation, resistance in electronic oscillators, and absorption and scattering of light in optical oscillators. Damping not based on energy loss can be important in other oscillating systems such as those that occur in biological systems and bikes (ex. Suspension (mechanics)). Damping is not to be confused with friction, which is a type of dissipative force acting on a system. Friction can cause or be a factor of damping. Many systems exhibit oscillatory behavior when they are disturbed from their position of static equilibrium. A mass suspended from a spring, for example, might, if pulled and released, bounce up and down. On each bounce, the system tends to return to its ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Admittance
In electrical engineering, admittance is a measure of how easily a circuit or device will allow a current to flow. It is defined as the multiplicative inverse, reciprocal of Electrical impedance, impedance, analogous to how Electrical resistance and conductance, conductance and resistance are defined. The SI unit of admittance is the siemens (unit), siemens (symbol S); the older, synonymous unit is mho, and its symbol is ℧ (an upside-down uppercase omega Ω). Oliver Heaviside coined the term ''admittance'' in December 1887. Heaviside used to represent the magnitude of admittance, but it quickly became the conventional symbol for admittance itself through the publications of Charles Proteus Steinmetz. Heaviside probably chose simply because it is next to in the alphabet, the conventional symbol for impedance. Admittance , measured in Siemens (unit), siemens, is defined as the inverse of Electrical impedance, impedance , measured in Ohm (unit), ohms: Y \equiv \frac electric ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Damping Matrix
In applied mathematics, a damping matrix is a matrix corresponding to any of certain systems of linear ordinary differential equations. A damping matrix is defined as follows. If the system has ''n'' degrees of freedom ''u''''n'' and is under application of ''m'' damping forces. Each force can be expressed as follows: : f_=c_ \dot+c_ \dot+\cdots+c_ \dot=\sum_^n c_\dot It yields in matrix Matrix (: matrices or matrixes) or MATRIX may refer to: Science and mathematics * Matrix (mathematics), a rectangular array of numbers, symbols or expressions * Matrix (logic), part of a formula in prenex normal form * Matrix (biology), the m ... form; : F_D=C \dot where C is the damping matrix composed by the damping coefficients: : C=(c_)_ Mechanical engineering Classical mechanics {{mathapplied-stub ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
