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Main contribution of this paper is an experimental verification of a new position control algorithm exploiting principles of forced dynamics control capable to operate in energy saving mode. To minimize energy loss a specified velocity-time profile based on prescribed maneuver time is computed to achieve prescribed dynamics for demanded reference position. Settings of the velocity-time profile parameters...
Recently, doctor and medical care persons are shortage by the aging of population. Thus, robot support systems are needed for medical care. The motion of the human support system is controlled by routine. Position control and velocity control is usual method. These controls are not considered the human motion. This paper proposes method of human support system using motion coping system. The motion...
Continuous path tracking control is an important technology for the position control system such as factory automation field. Particularly, large acceleration and/or deceleration torque is required for continuous path tracking control at its start position and its goal position. Each AC servo motor of continuous path tracking control has limitation of current and voltage. Therefore, in controlling...
Robust fast continuous path tracking control is the important technology for the multi-degrees-of-freedom position control system such as X-Y table, robot manipulator and so on. Especially, large acceleration and/or deceleration torque is necessary for fast continuous path tracking control at its start position and its goal position. Each motor of high speed path tracking control has the torque limitation...
Motion control has been widely used in industry applications. One of the key technologies of motion control is a disturbance observer, which quarries a disturbance torque of a motion system and realizes a robust acceleration control. The disturbance observer can observe and suppress the disturbance torque within its bandwidth. Recent motion systems begin to spread in the society and they are required...
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