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RISImpedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents an experimental study with theory to identify quantitatively the zero-potential-energy (ZP) motion in Cartesian impedance control of redundant manipulators, based on a new analytical methodology. This ...
Impedance Control on Redundant Manipulators With ZeroPotentialEnergy Motions: Theory and Experimental Validation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents an experimental study with theory to identify quantitatively the zeropotentialenergy (ZP) motion in Cartesian impedance control of redundant manipulators, based on a new analytical methodology. This ...
Experimental Study of the Impact of a Vibrating Wire on Free Abrasive Machining as Correlated to the Modeling of Vibration Subject to an Oscillating Boundary Condition
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we study experimentally the impact of a vibrating wire on the free abrasive machining (FAM) process in removing material from the surface of brittle materials, such as silicon. An experimental setup was ...
Experimental and Computational Study of Error and Uncertainty in Real-Time Camera-Based Tracking of a Two-Dimensional Marker for Orthopedic Surgical Navigation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Tracking of the position and orientation of a moving object by a camera can be accomplished by attaching a 2D marker with a specific pattern on the object. Recently, we have developed a projection-based surgical navigation ...
Damped Vibration Response of An Axially Moving Wire Subject to An Oscillating Boundary Condition and the Application to Slurry Wiresaws
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the analysis of a new class of differential continuum system with a solution of traveling waves containing coupled spatial and temporal variables. Herein, we derive the analytical solution of the damped ...
Assessment of Workspace Attributes Under Simulated Index Finger Proximal Interphalangeal Arthrodesis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presented an assessment of quantitative measures of workspace (WS) attributes under simulated proximal interphalangeal (PIP) joint arthrodesis of the index finger. Seven healthy subjects were tested with the ...