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Time optimal trajectory planning under various hard physical constraints plays a significant role in simultaneously meeting the requirements on high productivity and high accuracy in the fields of both machining tools and robotics. In this paper, the problem of time optimal trajectory planning is first formulated, and then a novel back and forward check algorithm is proposed to solve the minimum time...
Cable-actuated systems provide an effective method for precise motion control over various distances. Traditionally, their control has focused on eliminating transverse resonances and disturbances. Longitudinal cable resonances are usually neglected since they are assumed to be at much higher frequencies and much lower amplitudes compared to transverse resonances. However, in high-speed high-precision...
This paper presents an integrated direct/indirect adaptive robust control scheme for a class of nonlinear dynamic systems preceded by unknown nonsymmetric, nonequal slope dead-zone nonlinearity. Departing from existing approximate adaptive dead-zone compensations, this paper uses indirect parameter estimation algorithms along with on-line condition monitoring to obtain an accurate estimation of the...
Based on two inequalities, the upper and lower bounds of the cutoff wavenumber of the lowest-order TM mode of a pentagonal waveguide family are derived. By means of taking the geometric mean value, an approximate formula to calculate the cutoff wavenumber of the lowest-order TM mode of a pentagonal waveguide family is developed. It is the function of the cross section geometric parameters of the pentagonal...
The recently proposed integrated direct/indirect adaptive robust controller (DIARC) for a class of nonlinear systems with unknown input dead-zones is combined with desired trajectory compensation to achieve asymptotic stability with excellent tracking performance. The algorithm is tested on a linear motor drive system preceded by a simulated non-symmetric dead-zone which is practically supposed to...
An efficient technique using the fast Fourier transform, sum algorithm and Pade approximation, in combination with the finite-difference time-domain method, is presented for computing the resonant frequencies of a cavity. Without sacrificing the accuracy of the results, this new technique significantly reduces the computational time and the possibility of modes missing in comparison with the conventional...
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