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Proportional-Integral-Derivative (PID) control has been most commonly used to operate mechanical systems. In PID control, however, there are limits to the accuracy of the resulting movement because of the influence of gravity, friction, and interaction of joints. In contrast, digital acceleration control (DAC) is robust against these modeling errors by nonlinear terms. DAC requires information of...
We describe modeling, system identification and control design for a magnet manipulator. Two of these manipulators, placed on either side of a patient, will articulate their large permanent magnets to generate a magnetic field in an anatomical region (e.g. the heart) as part of a medical navigation system under the remote control of a medical professional. We derive the equations of motion using the...
This paper presents investigations into the development of hybrid fuzzy logic control schemes for end-point vibration suppression and input tracking of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, initially a proportional-derivative...
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