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We estimated the reaction force for assembly work with a three-link dual-arm robot manipulator using sliding mode control with a sliding perturbation observer (SMCSPO) without using a force sensor. The sliding perturbation observer (SPO) is used to estimate the reaction force of the end effector without using any sensor. The SPO estimates the perturbation, which consists of the parameter uncertainties,...
In this research a bilateral control method is proposed to find the estimation force of master-slave at the end effector of hydraulic servo system using sliding mode control with sliding perturbation observer (SMCSPO). The sliding perturbation observer (SPO) estimates the reaction force at the end effector of master and slave without using any sensor. Sliding mode control (SMC) is used as bilateral...
In this paper, we propose 3D printing simulator which consist of a 3-axis gantry robot and nozzle system. 3-axis gantry robot follows injection path. Nozzle system utilizing principle of silicon gun injects silicon by using control unit. Injection experiment result using PID controller has not good performance due to modeling error, uncertainty and nonlinearity. To overcome the problems, sliding mode...
In this paper, proposed a reaction force estimation and bilateral control of master slave manipulation in hydraulic servo system based on Sliding mode control with sliding perturbation observer (SMCSPO). The reaction force is estimated by sliding perturbation observer (SPO) without using any force sensor. The estimated reaction force without force sensor is transmitted to the master device using the...
In this research a bilateral control in hydraulic servo system for end-effector of master-slave manipulator is proposed. End-Effector of hydraulic servo system is used in dismantling nuclear power plant. A bilateral control strategy in hydraulic servo system is recommends for the robust position tracking between the master and slave. Sliding mode control with sliding Perturbation observer (SMCSPO)...
In this research, a robust controller based on Sliding mode control with sliding perturbation observer (SMCSPO) for a nuclear dismantling hydraulic servo system is proposed. This paper introduces the controller for the 1st link first. The SMCSPO is using a sliding observer to observe perturbation only with encoder sensor. Meanwhile, the observed perturbation and state variables can be used to improve...
The high degree-of-freedom robot arms need the end-effector's assembly force information for precision and accuracy works. But attaching a force sensor on the end-effector of robot is difficult because of cost, weight and structural problems. In this paper, we will apply SMCSPO(Sliding Mode Control with Sliding Perturbation Observer) robust control algorithm to a 7 degree-of-freedom robot arm to estimate...
This paper present the method to estimate and compare the reaction force of end effector of 1-DOF manipulator using Proportional derivative with sliding perturbation observer (PDSPO) and sliding mode control with sliding perturbation observer (SMCSPO) without using any sensor. Simulation of 1-DOF manipulator is done in Matlab/Simulink from the generation of a mechanical model using SimMechanics Toolbox...
A reaction force estimation method based on Sliding Mode Control Sliding with Perturbation Observer for the end effector of two-link manipulator is proposed in this research paper. A two-link manipulator is simulated using Matlab/Simulink from the generation of a mechanical model by SimMechancis Toolbox. In this paper Sliding mode control with sliding perturbation observer (SMCSPO) is used to control...
In the hot rolling process, the scratches are caused by immense friction between the rollers and the steel plate, and this defect debases the productivity of steelworks. Existing hot strip mills have a structure that fixes the gap between upper and lower rollers; as a result, steel plates inevitably underwent strong friction and shock when passing through the rollers. The new concept, a flying touch...
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