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This paper mainly analyzes the typical compliant flange system and introduces impedance control methods for force tracking. First of all, we establish a compHant system with the internal cylinder of flange, electronic pressure regulator as well as other components, and build the transfer function of the system and verify the stability of the system. Next, we discuss about the model of compliant system...
The physical validation of devices must comply with the principles of causality, passivity, and stability. For linear and time-invariant devices, it can be proved that passivity implies a causal transfer function. In this sense, it is understood that causality is a consequence of the passivity condition. Moreover, if the real part of the admittance is non-negative, it can also be demonstrated that...
When force feedback is employed in bilateral teleoperation of a robotic system, classical control techniques can become unstable in the presence of communication latency. An established solution to this problem employs the scattering transformation to guarantee passivity. This transformation requires the selection of a wave impedance parameter that strongly affects transparency to the operator. It...
Human-Robot Co-Working is an active research domain in the field of robotics and control theory. Most of pioneering contributions addressing Co-Working interaction control problems has focused on PID based control. On the other hand, there are, in modern control theory, several tools allowing to design and tune arbitrarily complex servo-controllers. Non-Smooth optimization is one of recently developed...
This paper presents a robust structure to optimize transparency in bilateral teleoperation systems. The system is assumed to be linear, with constant but uncertain time delay in communication channel. Benefiting from small gain theorem and by using optimal H2/H∞ solution of the formulated problem, stability of the delayed system is guaranteed, while the transparency of the bilateral teleoperation...
This paper proposes a performance index called telepresence index for bilateral teleoperation, which can be used both for the performance evaluation of bilateral control architectures and for design purposes. This index is intended to represent a comprehensive performance objective consisting of transparency and kinematic correspondence, which are two major performance objectives of bilateral teleoperation...
The goal of this paper is to investigate how the vibration characteristics within a drill pipe can be modulated using (i) active control laws, or (ii) appropriate choices of impedance properties within the continuum. It is assumed in the paper that the continuum could have multiple sources of inputs, some acting as disturbance and some as control. The continuum was assumed to have generalized impedance...
When operating an Atomic Force Microscope (AFM) in tapping mode the quality (Q) factor of the cantilever probe places a limitation on scan speed and image resolution. This paper introduces piezoelectric shunt control as a new method of controlling the Q factor of a piezoelectric AFM microcantilever. Using this method the mechanical damping of the cantilever is controlled by an electrical impedance...
The scan rate of tapping mode Atomic Force Microscopy (AFM), when scanning in air, may be improved by reducing the quality (Q) factor of the micro-cantilever. Passive piezoelectric shunt control is implemented in the AFM by placing an electrical impedance in series with the cantilever tip oscillation circuit. This method is used to reduce the Q factor of a piezoelectric self actuating AFM micro-cantilever...
In this paper, we present an impedance control method for electro hydraulic servo systems (EHSSs). The definition of impedance is a transfer function from external force to velocity error. By the proposed method, the transfer function from external force to velocity error becomes the desired transfer function. And we calculate the steady-state position and velocity error. Simulation results validate...
There are many systems to include humans in the mechanical control loops. In such systems, low-skilled operators are considered to cause accidents. To prevent these kinds of accidents, analysis of human's model with various methods has been studied. “Crossover model” is well known as one of the models to analyze human-machine systems. However, many of those researches have analyzed humans when they...
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