César Chávez-Olivares

Autonomous University of Aguascalientes | UAA · Departamento de Ingeniería Robótica

At present, there are several tasks automated by robotic systems that require a precise regulation of the applied force to achieve an adequate robot–environment interaction. To address this control problem, this paper presents an explicit force control structure that has two very relevant features for interaction tasks: (1) the operation of robot a...

In various automated industrial, medical, or service applications using robotic systems it is required to regulate both robot movement and contact force. In order to address this control problem, this paper presents a force/position control structure that has two characteristics that are very relevant in robot-environment interaction tasks. First,...

This paper addresses the problem of controlling a robotic hand in tasks that require precise regulation of the applied force, as well as efficient use of actuators, ensuring that these operate safely within their torque limits. The proposed control structure is composed of generalized saturation functions, which have been widely used for the contro...

ADAMS-MATLAB co-simulation is widely used in complex system development to control models of closed-loop mechanisms. An advantage of ADAMS is to facilitate the configuration of parameters such as friction. However, its mathematical friction model is unknown. There are alternatives such as Simscape Multibody that facilitate the configuration of any...

The simple act of walking can occasionally cause ankle sprains. Traditionally, the rehabilitation of a sprained ankle involves physical therapy. Physical therapy is one of the health professions that help regain mobility through manual exercises. Aquatic therapy is one of the most potent water-based anti-inflammatory methods currently employed that...

Rubbing is an important problem in machinery industry which occurs when a rotating element hits a stationary part. This rotor-to-stator rub may result in the catastrophic breakdown of the machine. In this work, the phenomenon of rotor rubbing is analyzed from the perspective that the signal analysis tools that are in use today to detect this defect...

This chapter presents a methodology for the accurate generation and tracking of closed trajectories over arbitrary, large surfaces of unknown geometry, using a robot whose control is based on the use of a non-calibrated vision system. This capability can be applied to relevant industrial robotic maneuvers, like the welding or cutting of commerciall...

A common defective phenomenon in rotating machinery is rotor-casing rub that generates impacts when the rotor rubs against the stator. Vibration sensors and data analysis techniques are commonly used for fault signature extraction and mechanical systems diagnosis. In this paper, an experimental characterization of rotor-rub is made by time-frequenc...

This paper addresses the explicit force regulation problem for robot manipulators in interaction tasks. A new family of explicit force-control schemes is presented, which includes a term driven by a large class of saturated-type hyperbolic functions to handle the force error. Also, an active velocity damping term with the purpose of obtaining energ...

A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like c...

The stiffness controller proposed by Salisbury is an interaction control strategy designed to achieve a desired form of static behavior as regards the interaction of a robot manipulator with the environment. The main idea behind this approach is the simulation of a multidimensional linear spring - or linear elastic material - using the difference b...

This paper presents a new interaction control structure that generates a family of explicit force regulators for robot manipulators. The proposed structure includes a term of a class of proportional-type functions in terms of force error; the force error is defined as the difference between a desired force and the actual force measured with a force...

This paper presents a new interaction control structure that generates a family of explicit force regulators for robot manipulators. The proposed structure includes a term of a class of proportional-type functions in terms of force error; the force error is defined as the difference between a desired force and the actual force measured with a force...

The inertial and friction parameters of a robot are used in the development and evaluation of modelbased control schemes and their accuracy is related directly to the performance. These parameters can also be used for a realistic simulation, which may be useful before implementation of new control schemes. In principle, the numerical value of the p...

The dynamic and friction parameters of a robot are used in advanced control schemes, and their accuracy significantly affects their performance. These parameters can also be used for a realistic simulation. In principle, the numerical value of the parameters could be obtained via computer-aided design analysis but inevitable assembly and manufactur...

This paper presents an interaction control strategy for industrial robot manipulators which consists of the combination of a calibration-free, vision-based control method with an impedance-control approach. The vision-based, robot control method known as camera-space manipulation is used to generate a given, previously defined trajectory over an ar...

This paper presents a methodology for precise robot positioning and path tracking, performed by industrial robots over large surfaces of arbitrary size, shape and orientation. The methodology is based on a vision-based, calibration-free robot control method known as camera-space manipulation. The path, defined and stored in a CAD file, is later ada...

This paper presents a control strategy for industrial robot manipulators which consists of the combination of a calibration-free, vision-based control method with an impedance control approach. The vision-based, robot control method known as camera-space manipulation is used to generate a given trajectory over an arbitrary surface. Then, a kinemati...

This paper presents an interaction control strategy for industrial robot manipulators which consists of the combination of a calibration-free, vision-based control method with an impedance control approach. The vision-based, robot control method known as camera-space manipulation is used to map a given, previously-defined trajectory over an arbitra...