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Modern sensing technologies create new possibilities to control mobile robots without any dedicated manipulators. In this article authors present a novel method that enables driving of the Mindstorms NXT artificial arm with Microsoft Kinect, using gesture recognition. To imitate movement of an artificial robotic arm, an algorithm of the human-computer interaction is employed using skeleton tracking...
The paper discusses an approach for parameter identification during regular movement of servo axes. In contrast to the usual case, where test signals are applied the accuracy of the identified parameter can depend on the available excitation and needs to be assessed after the identification has run. Considering that, methods of error calculation and similarity measurement are presented in the paper...
Controller parameterization is commonly performed by applying basic tuning rules or by carrying out not comprehensible design automatisms, which are integrated in the control system. As an alternative, a relatively new and promising approach is the application of the so-called “simulation-based optimization”. This method allows a flexible definition of different optimization criteria. Therefore, in...
Currently, the achievable feedback control performance for servo-screw-presses is limited by its elastic structure. A possible approach to compensate this limitation is the extension of the velocity controller. This structural extension has the potential to improve the controller performance significantly due to a better damping of low frequencies. In this paper, the extension of the control structure...
The paper presents new concept of aircraft systems designing called More Electric Aircraft (MEA). The linear electric nacelle actuation system and mathematical model of the actuator have been described in the paper.
The present paper describes the modeling of the energy-storage unit — a battery that consists of several lithium-ion cells — at various modeling depths. Identification by means of frequency measurements at different operating points and subsequent verification in the time domain serve to identify both the modeling structure and the system parameters. For the frequency measurement the Electrochemical...
This elaboration presents the numerical model of an Active Magnetic Bearing (AMB) developed with the support of the Finite Element Method. Special attention is paid to the investigation of electromagnetic force, especially both components (in two axial directions). Two perpendicular force components are observed, with their value depending on rotor position. The completed investigation expands the...
This elaboration presents a dynamic model of an Active Magnetic Bearing (AMB) developed in COMSOL Multiphysics. The electromagnetic field is calculated on the basis of Partial Differential Equations (PDEs). The calculated electromagnetic force is applied to the rotor, which is free to move. The Arbitrary Lagrangian-Eulerian (ALE) method for mesh deformation is applied to achieve rotor motion on the...
This article presents the construction of a semi-levitated hybrid magnetic-levitation-based cart. The cart is driven by an electromagnet controlled through magnetic flux density detection. A magnetic guidance track profile was identified and mathematically approximated. Proposed propulsion control algorithms were embedded in an autonomous control system and experimentally tested.
The paper describes problems in powertrain testing of mobile wheeled robots. It shows a brief review of powertrain design of mobile robots and explains the need for testing in aspect of energy management and traction parameters. In this work the availability of technical data of powertrain components in context of mechanical efficiency and energy loss is discussed. According to this discussion the...
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