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Mathematical models of a mechanical system in the time and frequency areas, which are realized by various software complexes, are considered. The results of identification of the experimental amplitude-frequency characteristic using the software complex IMS-I are presented. It is established that the design analysis method, in which one natural frequency (one mode) is considered does not provide the...
Human movement generally involves multiple degrees of freedom (DOF) coordinated in a graceful and seemingly effortless manner even though the underlying dynamics are generally complex. Understanding these dynamics is important because it exposes the challenges that the neuromuscular system faces in controlling movement. Despite the importance of wrist and forearm rotations in everyday life, the dynamics...
Understanding the dynamics of wrist rotations is important for many fields, including biomechanics, rehabilitation and motor neuroscience. This paper provides an experimentally based mathematical model of wrist rotation dynamics in Flexion–Extension (FE) and Radial–Ulnar Deviation (RUD), and characterizes the torques required to overcome the passive mechanical impedance of wrist rotations.We modeled...
For robotic manipulation tasks in uncertain environments, good force control can provide significant benefits. The design of force or torque controlled actuators typically revolves around developing the best possible software control strategy. However, the passive dynamics of the mechanical system, including inertia, stiffness, damping and torque limits, often impose performance limitations that cannot...
As a preliminary study for a 4 degree of freedom wafer handling robot, an integrated design methodology for high-speed high precision single beam system is proposed in this paper. Strict mathematical modelling and identification processes of the actuating subsystem are performed. Parametric studies and experiments of step response of the system are conducted to investigate the influence of the interactions...
In motion control, the major sources of uncertainties are friction, stiffness, inertia and disturbances. These uncertainties should be taken into account by any high performance robust motion controller. Position and speed controllers for two-mass systems with different performances, ranges of applicability and of different complexity need to be used. The objective of the paper is to propose a motion...
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