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In the typical industrial applications, the object grasping or manipulation is usually implemented on industrial robots. However, the correct object manipulation also implies to avoid damages. On the other hand, interaction is an action which is influenced by other actions between two or more entities. In this paper an alternative method for interaction control, which is a combination of velocity...
This paper proposes a position sensorless control of interior permanent magnet synchronous motors; this method involves the use of an adaptive observer based on direct-type adaptive control for achieving an improvement in responses of speed estimation and control. Although various adaptive observers based on indirect-type adaptive control have been extensively studied so far, improvement in response...
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...
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