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Aiming at the starting problem of motor equipment, this paper studied a large of existing soft start modes and their starting characteristics. Then, using MATLAB/Simulink tool to build common soft start simulation models, this paper got a lot of simulation waveforms. These helped to identify the applicable occasions of these soft starters and their respective advantages and disadvantages. We designed...
In this paper, a practical control approach is suggested for series elastic actuators(SEAs) to generate the desired torque. Firstly, based on the analysis of a nonlinear SEA, the generic dynamics for a class of SEAs is summarized. Then the dynamic equations are transformed into a novel state-space form which is convenient for controller design. Finally, based on the recently developed finite-time...
In this paper, an integral sliding-mode control(ISMC) approach for the SEA torque control is presented. The controller is efficient even in the presence of external disturbances. In particular, the general dynamics of SEA system is described and some model transformation operations are performed, and then an integral sliding-mode controller is designed, on the basis of which some theoretical analysis...
This paper presents a practical control approach for series elastic actuators(SEAs) to generate the desired torque. Specifically, the controller is applicable to both linear and nonlinear SEAs and it works well even in the presence of unknown payload parameters and external disturbances. Via the analysis and transformation of the SEA dynamics, a lumped disturbance signal is constructed and a form...
Home service robot works in unstructured environments with various tasks, where a low-cost, dexterous, and intrinsically safe manipulator is important. Traditionally, a redundant manipulator with high degrees of freedom (DOFs) is employed. However, high DOFs bring problems like high cost, complex physical designing, and heavy weight. Here a novel low-cost deformable manipulator for home service robot,...
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