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This paper deals with the problem of trajectory generation with a motion profile in joint space, the motion profile is a mathematical function that affect the performances of the robot such as the optimization of energy, optimization of time and especially the continuity of movement, in robotics we have three problems to solve, modeling, control and trajectory planning, in this work we developed a...
This paper deals with the problem of trajectory generation in the joint space, several mathematical functions are used as motion profile. The choice of the motion profile is very important because it affects the performance of the robot. Several factors involved in this choice, but the most important is the smoothness of movement and therefore the continuity of the torque. To see the effect of each...
This paper deals with the control of a two-degree-of-freedom, laboratory-scale helicopter-like system (termed the toycopter), where the aerodynamic force is manipulated using the propeller speed. This system can be shown not to be flat and thus classical linearization techniques cannot be applied. However, a low-order flat system can be obtained by (i) using a high-gain feedback with suitable proportional...
In order to drive the electric machines using the motors efficiently, the energy loss should be minimized during its operation. The optimal torque and rotating speed trajectories to minimize the energy loss of the induction motor (IM) during its operation has been proposed when the operation time, rotating speed, and rotational angle are given as drive conditions. However, the optimal trajectories...
A strong jerk which can cause passengers discomfort occurs when electric elevator starts and stops. If uncontrolled, the jerk have influence on the electrical and mechanical subsystem performance and reduce the system life expectance. Modern drives have ability to control speed, so we can indirectly control the jerk. This paper describes the control of real gear-less electric elevator drive with vector-controlled...
In this paper, a new approach to identify the parameters of robot manipulator dynamics is presented. The approach is based on exciting the robot manipulator with multiple identification trajectories that pass through the operating point with specific speeds and accelerations. The position, velocity and acceleration of the robot joints along with the corresponding torque at the operating point are...
The model of the juggler is a mechanical machinery designed and constructed to demonstrate and teach control of fast and highly effective servo drives that are commonly used in various motion control applications in industry. The aim of this project is to create a control system able to juggle with three billiard balls, close a visual feedback to recognise actual position of individual balls and present...
In this study, adaptive tracking control (ATC) is presented for a toggle mechanism of electric injection molding machines in the presence of uncertainties and disturbances during closing operations. The controls are developed based on mathematical knowledge of the toggle mechanism and the permanent magnet synchronous motor (PMSM). The proposed controls are robust not only to parametric uncertainties...
Dynamic parameters of a robot affect the performance of advanced control schemes significantly. In this study experiments to identify the dynamic parameters of AT2 robot are carried out. The excitation trajectory for identification is parameterized with Fourier series. The trajectory is optimized to minimize effects of uncertainty using condition number as the index. Recursive optimization is proposed...
The task of solving the adaptive control of a partially and imprecisely modeled electrical vehicle driven by three omnidirectional wheels together with the torque and/or power limits of their electric driving motors is considered. The vehicle is very roughly modeled as a rigid body while the a part of the burden carried by it through elastic connection is completely neglected in the controller's model...
This paper deals with the flux-weakening control of surface mounted permanent magnet synchronous motors, taking into account the influence of the resistive voltage drop in the stator windings, an effect which is usually neglected in similar studies. At first, the motor equations exploiting the optimal torque-speed limits in the flux-weakening region are evaluated and discussed. Then, the influence...
Recent findings related to the control strategies underlying voluntary arm trajectory formation in monkeys will be presented. The respective roles of central preprogramming of movements and feedback modulation from peripheral sensory organs will be discussed. A computer simulation based on mathematical modelling and dynamic optimization of the motion will be presented which predicts observed behaviour...
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