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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...
This paper presents a novel functional observer which can observe the velocity, acceleration and disturbance information of a motion control system with higher accuracy and less noise in comparison to classical observers. The observer uses the input current and position information and the nominal parameters of the plant. The novelty of the observer is based on its functional structure that can intrinsically...
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...
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