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In this paper, we discuss a development of control and sensing platform for an on-chip single cell evaluation by magnetically driven microtool (MMT). The design and fabrication of the MMT is shown. Through the basic experiments, the advantage of the proposed platform, the performance of the position control (positioning accuracy: 30 μm), and the force sensing (sensing accuracy: 100 μN) of the MMT...
This paper presents an analysis of the accuracy of urban railway train's parking together with an elaboration of the system structure and principle of parking control in ATO mode. Through the construction of the model of pneumatic brake unit, the non-linear character of pneumatic brake unit is analyzed, and thereby the strategy of feedback control based on the train's position signal is given. Further...
The main aim of this paper is to design a hybrid force-position controller using fuzzy logic (FL) for the robotic arm of a 9 degrees of freedom (DOF) upper limb wearable exoskeleton rehabilitation robot. The robot is designed and built in our lab for assisting in the rehabilitation of patients post-stroke. The robotic arm of the rehabilitation robot is driven by pneumatic muscles (PM) and its dynamic...
In order to deal with the control difficulties of the dredger's dynamic positioning system under large disturbances caused by dredging operation, a disturbances compensating dynamic surface control method is proposed to be used in the dredger's dynamic positioning system. Disturbances can be measured and compensated by the adding forces sensors. The proposed robust controller guarantees the semi-globally...
By the test, this paper analyzed the position gain of the NC machine tool servo system controlled by the closed-loop impact on position error, steady-state errors. It provides an important basis for improving the impact on Servo system's follow performance, inertia, dead zone and other factors in the machining process of high-speed and high-precision.
This paper deals with the trajectory planning of a full-rotate parallel robot for wafer transfer operations. With the path length in work space of the robot as parameter, the dynamic model is parameterized. The system constraints-input torque and velocity constraints and the task constraints-output velocity, acceleration, and jerk limits are set; with the minimized operation time as the optimization...
A new rotor position sensorless method for switched reluctance motor drive system (SRD) is described in this paper. Rotor position can be considered as a function of phase current and the variation rate of it. Using the phase current obtained by sensors and the current variation the rotor position can be estimated accurately and quickly. A control strategy of SRD without position sensor is researched...
Sensorless Brushless DC motors have been a research focus home and abroad, because their characteristics of small volume, high reliability, strong anti-interference and the ability to overcome inaccurate commutation caused by mechanical installation. This article will carry on a research on the operation principles and performance characteristics of sensorless DC motors and methods that terminal voltage...
Research and design on the DC servo motor position control system was developed based on the virtual instrument technology. The research focuses on the system configuration, PID controller, data acquisition and the real-time control procedures. An experimental rig has been built, and the test has been carried out. The experiment results show that the system in this paper has more advantages than traditional...
The basic principle of the actively variable damping control is explained with general elastic mass damper system in this article. Then the effect about structural damping to elastic vibration of flexible manipulator is analyzed based on establishment of kinetic equation of flexible manipulator. The author first find the principle and the implemental method which can control the vibration of flexible...
This paper presents a new computation method for transient stability analysis for electric power systems. Different from existing methods, a minimization problem is formulated for obtaining critical clearing time (CCT). The method is based on the computation of a trajectory on the stability boundary, which is referred to as critical trajectory in this paper. The critical trajectory is defined as the...
In this paper, we presents a new nonlinear iterative learning control law for a class of nonlinear systems, denoted NP-D-INP-D, which is composed by limiting the action of error in PID learning law, that is, use a bounded nonlinear function of error instead of error, and adding a differential feedback in the integrator of PID learning law to inject the suited damping. By using Bellman-Gronwall lemma,...
As one of the most important navigations, the proportional navigation has the advantages of sensitiveness, well-overload and practicability. In order to magnify the discussion and analysis, the two-parameter proportional navigation method generalized from proportional navigation was established for interception on flank. Then, the analysis and proof of its influence on the trajectory were also deduced...
This paper deals with the tracking control of robot manipulators. Proposed is a class of new SM-NPID-like tracking controllers consisting of a linear combination of the linear sliding mode control, proportional control, derivative control, nonlinear control shaped by a nonlinear function of position errors, linear integral control driven by differential feedback, and nonlinear integral control driven...
In this paper, with the globally-accepted lunar gravitation field models LP165P and GLGM-2, character of the lunar gravitation field models were analyzed based on kaula theory. Then, making use of LP165P models truncated to 70 orders and degrees, the free running time span of lunar satellite of 100 km height were given. Last, a maneuver method for orbit height keeping is presented for 100 km height...
In this paper, design and development of a peg placement robot for participating in National Engineering Robotics Contest (NERC) 2009 is presented. The robot needs to place the pre-loaded pegs in pigeon holes while navigating through a grid of white reflecting lines. The sensory system of the robot comprises of infrared sensors for line following and peg placement tasks. Twelve infrared sensors are...
To improve the tracking precision, integrated control strategy of Permanent Magnet Linear Synchronous Motor (PMLSM) based on sliding mode control and repetitive control was proposed in this paper. Because PMLSM is easily affected by the periodic thrust fluctuation caused by the end effect, the periodic friction and other aperiodic disturbance during operating. The speed controller and the current...
Rehabilitation robot is a type of assistant recovery equipment designed particularly for the sick people having difficulty in walking to get gait rehabilitation training, the research on joint flexibility is of great significance for the program making of walking gait control. The three closed-loops PID control method was proposed for the lower-limb rehabilitation robot MACCEPA (mechanically adjustable...
This paper proposes a slope-walking strategy of a bipedal robot using position and orientation based inverse kinematics method. Some researchers implemented control approaches to solve this problem. Generally, they apply control feedback at ankle joints and introduced many more control methodologies. Several researchers used pelvis and foot trajectories without showing center of mass trajectory. In...
In this paper, a loosely coupled integration system is proposed for improving the positioning performance of a mobile robot by fusing the Pseudolite Ultrasonic System (PUS), which is an absolute position measurement system using direct ultrasonic wave, with the odometer of Dead-Reckoning (DR). The PUS and the DR calculate position independently and a Kalman filter estimates the position using position...
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