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 real trajectory environment surface force applied to the surface = k  x xx collision point