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Precise motion control is desired in a variety of industrial robot applications. In order to achieve precise and rapid rest-to-rest motion, the overshoot and the residual vibration should be minimized. In this paper, a modified input shaping approach is developed to address these problems. The time delay introduced by conventional input shaping technique is fully compensated in the proposed approach...
In this paper, a networked-based rehabilitation system is introduced for lower-extremity tele-rehabilitation. In order to enable high-level motion planning of the rehabilitation robot in real-time for enhanced safety and appropriate human-robot interactions, a time series model is proposed to capture the kinematics of knee joint rotations. A major challenge in such a system is that measurement data...
Time delay is a common phenomenon which can be varying and unknown in many networked motion control systems. Since time delay negatively affects the stability and tracking performance, it needs to be carefully handled in controller design. Moreover, both external disturbance and sensor noise exist in such systems, which makes the controller design more challenging. In this paper, a double disturbance...
In this paper, a wireless tracking control problem with varying time delay longer than one sampling interval is discussed, and a preview controller is employed for precise motion control. A delay-dependent system model is first introduced and a reference generator is then employed to model the previewed future reference. The system model is augmented with the reference generator and an optimal controller...
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