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Power factor in mechanical system is a new concept to express characteristic in mechanical system. It defines dynamic behavior of the impedance characteristic in the motion. However, conventional derivation method requires short-time Fourier transformation in order to consider random input in mechanical system as a combination of sinusoidal waves. This paper proposes a novel method to obtain power...
Linear motors, as direct-drive actuators, have been quickly developed within recent years and now they are widely applied in the industrial production area, such as automatic soldering, carving and embroidery machines, etc [1]. At present, linear permanent magnetic motors (LPMMs) are the mainstream of market due to their considerable force output performance with high power density and efficiency...
We present a hierarchical controller for a set of two linear synchronous motors with permanent magnets moving in two orthogonal directions for a two degree of freedom high-precision positionning system developed by Newport-France. This system is supposed to realize relatively fast linear displacements from 1 count (4 nm) to 400 mm. A linear displacement of 25mm must be achieved in less than 0.2 s...
This paper considers the application of a higher order sliding mode control algorithm to the problem of precision-limit positioning of a direct drive system in the presence of friction. Precision-limit positioning requires that the precision error is equal to the resolution of the sensor. Such high levels of control performance have not been generally considered possible because of the problems encountered...
Pneumatic muscles are interesting in their use as actuators in robotics, because they have a high power/weight ratio, a high tension force and a long durability. However, their physical model is highly nonlinear. In this paper a nonlinear control strategy is presented. The main objective is to control a trolley, which is driven by an artificial muscle to follow a reference path. The cascaded control,...
Surgeons are using robots as a tool to increase surgery accuracy and decrease procedure times. One of the main problems in robotic assisted orthopedic surgery is the force control in manipulator robots. It always has been subject of great study and interest in the scientific community, where the most common approach is to consider it as a hybrid control problem, due to their complexity and non-linearities...
The most popular control method in the industry is PID control due to its simple structure and effective performance. Although huge numbers of PID controller tuning methods have been proposed so far, existing ones still do not have the desired performances and the simplicity. Complex system dynamics make it challenging for engineers and students to apply these methods on their applications especially...
This paper proposes a novel scaling method in bilateral control. In general, scaling factor of position and force is set into the controller. In this case, force is scaled not by only reaction force from environment but external force such as friction. Therefore, it is difficult to get haptic sense from environmental reaction force. In the proposed method, scaling ratio is defined by the product of...
This paper presents a position command design methodology for table drive systems utilizing for a contact operation. In high performance mechatronic systems utilizing for contact operations such as picking up and/or placing on materials, force control is strongly requested to prevent a damage of materials due to impact force. Moreover interference force from other axis deteriorates position control...
When a robotic manipulator executes a task in restricted and unknown environments, it is necessary to implement a position/force control in free space and constrained space. In classic controllers, position/force control may be carried out by means a controller switching, once the contact point has been reached. In this paper, a new position/force predictive controller for an anthropomorphic robotic...
In the task of grasping objects with robotic hand, power grasp, also called whole hand grasp, is usually adopted. However, power grasp may incur severe target object deformation. To address this issue, a hybrid control algorithm is proposed, which could control dexterous robotic hand at different stages. When robotic hand does not contact target object, the speed of the fingers increases sharply under...
This paper presents the design steps and implementation results of a hybrid force/position control of the arm. The HFP control is based on a Proportional-Derivative Controller combined with feed-forward position control and multi-stage Infinite Impulse Response (IIR) filter in the joint space position control loop. In the outer loop, a resolved-velocity force control scheme is used. The performance...
Grasping and manipulation of various objects by arms are essential robotic tasks. The dual-arm system in comparison with a single-arm system can grasp objects with larger sizes and shape variations owing to its high degree of task-space redundancy. We report on the development of a dual-arm manipulation strategy suitable for object holding and moving. The controller has master-slave structure. It...
In order to assist human beings, the reproduction methods of the recorded human motions have been researched. On these systems, the human motions are recorded as the haptic data (i.e., position, velocity, and force data) by using bilateral control. However, these conventional methods show poor adaptability to the difference in the environmental location during the reproduced phase. In order to compensate...
Nanoscale motion control is required for miniaturization and performance improvement of mechatronics systems. In motion control at nanometer scale, disturbances which do not affect the system at macro scale might greatly influence the control performance. The torque ripple caused by distortion of current is one of the most serious disturbance elements and should be eliminated. To address this problem,...
This paper presents the performance validation of the motion control system for integration force and trajectory information. To realize the implementation high-quality motion that includes contact and non-contact motion to robot system, two contradictory systems; force and trajectory control should be synthesized in one control axis. In order to respond to the request, we proposed a motion synthesis...
The human hand is one of the most complex structures of the human body, having the fingers that possess one of the highest numbers of nerve endings in the body. The hand, with its nerve endings has the capacity for the richest tactile feedback with excellent positioning capabilities. The existing hand control methods used in controlling smart prostheses have many drawbacks and need improvements. This...
For the first time, a Nooru-Mohammed test was realized using a new kind of loading machine based on gough platform. However, it has been shown that boundary conditions on the concrete specimen are not respected. As a consequence, a new control strategy needs to be developed. This paper aims at applying a well-known control loop based on hybrid force/position law to a loading application. This new...
This paper proposes the control system for the independent multi-phase transverse flux linear synchronous motor (IM-TFLSM) based on magnetic levitation. Especially, the stator structures of the IM-TFLSM are composed of the two set which has the independent three-phase windings unlike the conventional Y-connected three-phase linear motors. Therefore, the control algorithms for the magnetic levitation...
This paper describes the verification of response speed and energy efficiency in compliance control. In compliance control, robots detect the external force and modify the trajectory depending on virtual impedance. In conventional compliance control, the control drive robots as soft for environment because robots are hardness. However, robots should be drived as both soft and hard to achieve dinamic...
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