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This paper presents and experimentally demonstrates a control approach for actuated dynamic walking in biped robots. Rather than utilizing trajectory tracking, we proposed a control approach which employs state dependent control torques generated by low-gain spring-damper couples to encourage patterned motion of the robot. In order to verify that the control idea provides natural looking (human-like)...
This paper presents a control methodology for high-precision positioning system. In order to realize the high-precision in positioning, the expansion of servo bandwidth is one of the promising approaches. However, since most of mechanisms inherently include mechanical vibration modes around the control response frequency, the control bandwidth is restricted by the resonant frequency. In order to provide...
A large-scale high-precision viscoelastic stage has resonance modes in low frequency. The resonance modes are an obstruction of fast and precise positioning. In this paper, we apply vibration suppression PTC (Perfect Tracking Control) to a vertical drive of the stage. Finally, the advantages of the vibration suppression PTC (VSPTC) comparing with original PTC are verified in simulations and experiments.
Precision of positioning and operation are enormously affected by vibration while flexible manipulator is running. Great attention has been paid on the research on vibration control of flexible manipulator. However, there is shortage of effective and uniform real-time simulation platform to date. Based on the study of coupled modeling and dynamic characteristics, the two-link flexible manipulator...
Mechanical backlash is a common trouble in all servo mechanisms that is created by mechanical defects i.e. wear or looseness. Backlash imposes nonlinearity on a linear control system and may be contributed to a limit cycle. Considering mechanical subsystem of a servo axis as an elastic two-mass system, modeling the backlash with a dead zone and choosing reduced order control system for the speed and...
A nonlinear reference shaping method for manipulators which are operated in living environments is proposed. It generates an intermediate reference position, and it is combined with a control based on the virtual spring-damper hypothesis proposed by Arimoto et al. The initial acceleration is moderated by an intermediate reference position inserted between the original target and the current position...
Position control and vibration control of the underactuated flexible robot in operational space is implemented. Firstly, the dynamic equations in operational space are derived using the assumed modes method. And kinematics and dynamics of the system are analyzed. Secondly, position control method of the underactauted flexible manipulator in the operational space is proposed. Because the elastic vibration...
With high-speed microcontroller as the core, the design takes this simple position control mode to simulate the simple harmonic vibration environment, and it uses the quantitative pulse frequency to fit the platform movement speed. It is introduced that the applicative characteristics of AC servo system, which includes the AC servo motor and frequency inverter in this experiment platform. According...
This paper presents an adaptive control method for trajectory tracking of a rigid manipulator which holds a flexible payload driven by an unknown force. First, kinematics and dynamics of the payload is derived. After the analysis of the interaction force in the whole system, a model of manipulator is then combined with the payload model, by which the model of the whole system is obtained. The unknown...
The mobile robot with an orthogonal-wheel assembly has omnidirectional motion ability and simple kinematic model for controller design. However, two sliced spheres that switch upon movement are likely to cause disturbances that act on the wheeled motor robot (WMR)'s body. The purpose of the traditional control for a WMR is high joint control stiffness using odometry, which might worsen the trajectory...
Dynamic control of the underactuated flexible robot in operational space is implemented with robot end variables directly used as the control objectives. Firstly, the dynamic equations in operational space are derived using the assumed modes method. Kinematics and dynamics of the system are analyzed. Secondly, position control method is proposed based on the dynamic model in operational space. Then,...
This paper deals with a control technique of eliminating the transient vibration generated in a dies-driving spindle of a form rolling machine. This technique is based on a model-based control with a rotational speed sensor. A rotational speed sensor is installed in a driven gear, namely a bull gear. A control model is composed of a reduced-order mechanical part expressed as a transfer function between...
This paper proposes a novel high precision planar electromagnetic-actuated positioning stage. The movable part of the stage is suspended by a monolithic parallel flexure mechanism, which motion comes from the deformation of the structure itself. A linear electromagnetic actuator which consists of a near-uniform magnetic field and four coils is designed and implementation to provide the propelling...
This paper presents investigations into the development of input shaping with optimal state feedback for trajectory tracking and vibration control of a flexible joint manipulator. A single-link flexible joint manipulator is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, a linear-quadratic regulator (LQR)...
This paper presents investigations into the development of input shaping with proportional-derivative (PD)-type fuzzy logic control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type fuzzy logic controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate...
An articulated aerial work platform is a type of off highway vehicle with a long/flexible beam to provide temporary access to inaccessable areas. The motivation of the research is to improve productivity and safety of the work platform via advanced control schemes. In this paper, a motion control architecture is presented for trajectory tracking and vibration suppression. By using the sensors integrated...
In this paper, an inversion-based feedforward control approach to achieve high-speed, large-range probe-based nanofabrication is proposed. Probe-based nanofabrication has attracted great interests recently. However, this technique is still limited by the low-throughput due to the challenges in compensating for the adverse effects such as the nonlinear hysteresis and the vibrational dynamics of piezo...
A positive position feedback controller is modified and a new active vibration control technique is developed. Unlike the conventional positive position feedback, the new controller separates the damping and stiffness control using two parallel first order and second order compensators. The second order compensator has a damping ratio as low as the damping of flexible structure to provide periodic...
In industrialized countries stroke is the major cause for physical disabilities in adults. In various clinical studies gait therapy with the help of the electromechanical gait trainer GT-I proved to enhance the rehabilitation outcome for subacute stroke patients. This paper presents control methods that were developed to enable variability during treatment in order to further improve gait therapy...
In high-speed and high-precision control of a precision stage for semiconductor manufacturing, vibration of the axially moving factors leads to operational problems and limits their utility in many applications. Reaction force and vibration controls are a key to improve the control performance. In the present paper, aiming at a systematic design of the both control systems, the 6-degree of freedom...
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