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This paper presents an automatic Fourier synthesis-based input-shaping algorithm for repetitive force-curve trajectories, applied to a piezo-electric actuator. A periodic scan-signal is generated by Fourier synthesis, consisting of the fundamental frequency and its even and odd harmonics. In order to compensate for the system dynamics of the used piezo-electric actuator, amplitude and phase response...
An active vibration absorption scheme for variable frequency vibration suppression in flexible mechanical systems is proposed. Mass-spring-damper dynamic vibration absorbers, differential flatness and integral error compensation are used during the synthesis of a vibration absorption scheme. Integral error compensation is also employed to improve the robustness of the active vibration absorber to...
This paper tackles motion planning in a cluttered environment with a workspace containing a vector drift field that provides an external influence on the ability of an agent to alter its state. The aim is to develop a planner that can guide the agent to a target zone, avoid clutter and marginalize the influence of drift on motion or exploit its presence in carrying out a task. Here, a variant of the...
The objective of this work is to develop a practical, closed-loop and simple navigation controller that suits a large variety of unmanned aerial vehicles (UAVs). The method indirectly controls the trajectory of a UAV by regulating its velocity using as a reference a dense vector field derived from the gradient of a harmonic potential filed (HPF). The field functions to inject the robot's context in...
Path planning methods are well suited to automatically perform robotic tasks; haptic guidance is a powerful tool for disabled people rehabilitation, sports training, handcraft skills acquiring and such kind of enactive tasks. This paper proposes a novel an efficient method to accomplish guided movements by efficiently combing path planning methods and haptic guidance. The main contribution of this...
The artificial potential field (APF) approach is a widely used path-planning algorithm for robot navigation. The method in some of its variants is known to exhibit several difficulties such as entrapment in a local minimum. In this paper, we compare the behavior of several variants of APF methods with emphasis on the quality of path geometry, and velocity and acceleration profiles. We argue that great...
This paper presents an open-loop control method for particle systems which are modeled as coupled stochastic oscillators. The proposed control approach is flatness-based control. It is explained that the kinematic model of the particles can be derived from the model of the quantum harmonic oscillator. It is shown that the kinematic model of the particles is a differentially-flat system. It is also...
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