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Research Topics Dr. Ming Liu

This research investigates innovative force control methods specifically tailored for non-linear control systems in robotics, focusing on dynamic vision and real-time image processing applications. Key areas include the management of motion and contacting force in robot manipulators during surgery and industrial tasks such as painting, deburring, and grinding. By exploring the transition between free motion and constrained motion/force control, this study addresses the complexities of collision dynamics and nonlinear frictions, proposing effective control schemes that ensure stability and smooth operation in dynamic environments.

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Research Topics Dr. Ming Liu

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  1. Research Topics Dr. Ming Liu • Force control • Non-linear control systems • Decentralised control • Dynamic vision • Real-time image processing

  2. Force Control f

  3. Applications • Surgery robots • Master-slave systems • Remote controlled surgery robots • Painting, Deburring and Grinding • Assembling

  4. Control the motion and contacting force of a robot manipulator while it keeps moving and contacting with the environment. • Ensure the smooth transition from free motion control to constrained motion/force control. • Collision dynamics needs to be carefully studies. • Nonlinear frictions become dominant.

  5. Force control scheme by N. H. Quach and M. Liu • Based on the investigation on the transit dynamics from free motion to restrained motion/force control some effective control schemes have been proposed which • ensures the smooth transition and asymptotic stability. • takes the complicated friction dynamics into account.

  6. Simulation results • Task defined robot tip trajectory defined

  7. Work space trajectory planning robot arm

  8. Position trajectories in joint space

  9. Velocities in joint space

  10. Joint velocity in work space

  11. Reference trajectories in work space

  12. Collision Phase - from free motion mode to constrained force/motion mode ref trajectory environment surface real trajectory x force applied to the surface = kx collision point

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