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The work studies to apply a novel FPGA (Field Programmable Gate Arrays) technology to realize a motion control IC for wafer-handling robot which has three-DOF (Degree of freedom) and each axis is driven by PMSM (Permanent Magnet Synchronous Motor). The motion control IC proposed in this paper has two modules. The first module is a Nios II processor which is used to realize the motion trajectory computation...
Using information technologies (IT), multimedia, animated figures and interactive simulations, the teachers can enlighten, clarify much more than by non-animated figures, usual text and speech. Within the frame of a European Union program a multimedia software was developed for supporting the education of Electrical Engineering at Universities and within this general program the teaching of Nonlinear...
This paper concerned the theoretical design and the experimental test of a simple nonlinear proportional controller. The controller is based on a gain scheduling approach, in which a model-based procedure is used to define the switching policy. The design procedure has been applied to a position control loop based on an AC electrical motor. Results from the experimental tests show that nonlinear controller...
A neuro-fuzzy learning algorithm is applied to design a Takagi-Sugeno type Fuzzy Logic Controller (T-S FLC) for a biped robot walking problem. The control design considers an output function imposed on the feedback and several TS-FLC models are determined each by ANFIS, which represent a piece-wise control inputs that together to perform a walking cycle. Two simulations of the closed-loop system for...
This paper focuses on a novel command generator for servo-motor drives to be used as an integral part of their motion controllers. The method, which incorporates a new data compression algorithm, is capable of generating trajectory data at variable rates. In this paradigm, higher-order differences of a given trajectory (i.e. position) are first computed and thus the resulting data are compressed via...
In this paper, we consider a multi-robot cooperative control problem via a robust consensus tracking algorithm. The main objective of this paper is to develop and implement a multi-robot formation control testbed and use it to verify the effectiveness of a cooperative control algorithm developed in our recent work. In the robust consensus tracking algorithm, an observer is developed to identify the...
This paper presents a novel mobile vehicle navigation algorithm based on the stability analysis of the model predictive control approach. The energy-shaping technique is performed with the navigation function to obtain a new virtual vehicle model that generates candidate feasible trajectories for the motion planner. Stability of the nonlinear model predictive control system is obtained by the passivity...
Ionic polymer-metal composite (IPMC) actuators have many advantages; for instance, they (1) can be driven with low voltages (<;5 V); (2) are soft, flexible and easily shaped; and (3) can operate in an aqueous environment (such as water). Important applications for IPMCs include active catheter devices for minimally invasive surgery, artificial muscle, and sensors and actuators for biorobotics....
As a stage toward a complete upper-arm motion assisted exoskeleton robot (i.e., 7DOF) this paper focused on the development of a 2DOF exoskeleton robot to rehabilitate and to ease wrist joint movements. To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and proper functioning of the upper-limb is essential. We therefore have been developing an exoskeleton...
This paper proposes a new task coordinate frame (TCF) for contouring control of biaxial systems. Existing task coordinate frames are only locally defined based on the desired contouring trajectory to be tracked and the calculated contour error is an approximation to the actual contour error only. As such, they are applicable to contouring tasks with small curvature and little actual trajectory tracking...
This paper provides a new method for modeling, clustering, and generalizing complex pseudo-periodic motions in a Robot Programming by Demonstration (PbD) framework. Relevant features of the trajectories are extracted by applying a linear mapping off the surface part using Moving Window Principal Component Analysis. A Hidden Markov Model is used for segmentation and temporal clustering of feature data...
The cluster space state representation for multirobot systems provides a simple means of specifying and monitoring the geometry and motion characteristics of a cluster of mobile robots. In previous work, this approach has been experimentally verified and validated for controlling the motion of planar mobile multi-robot systems ranging from land rovers to autonomous boats. In this paper we present...
In this paper a separation maintenance controller is developed for continuously steering a purposive, dynamic group of mobile agents away from each other in a confined, cluttered environment. The controller allows conflict-free, simultaneous use of space by the agents. It has a decentralized form that is constructed in conformity with the artificial life approach to behavior synthesis. The G-type...
To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and therefore proper functioning of upper-limb is very much essential. We therefore have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. Toward to make a complete (i.e., 7DOF) upper-arm motion assisted robotic exoskeleton this paper focused on the development...
A new concept of control accelerated motion of supercavitating vehicle is present. Before reaching a constant cruising speed of 100 m/s supercavitating vehicle is process of accelerated motion. In order to explore dynamic model and control challenges associated with the longitudinal accelerated motion of supercavitating vehicles, memory effect of the cavity and its influence on shape of cavity are...
A strategy for trajectory design, motion camouflage, is introduced within the context of orbital relative motion. At first the equations of orbital motion for this approach are developed. The control strategy is then implemented using both an impulsive and continuous approach. A number of parameters are then optimized to minimize the fuel mass. The simulation results reveal that the predator successfully...
The issue of satellite operations in close proximity to a reference satellite is of interest for both civilian and military applications. One such operation is fast fly around formation in a time period less than the orbital period of the reference satellite. A control law based on continuous low thrust is derived in this paper to realize fast fly around space circle formation on circular orbit. The...
This paper exploits advantages of the differential flatness of rotational dynamics of a three-dimensional holonomic robot, and presents two alternative approaches to invert it. Specifically, it utilizes the inverse dynamics in the virtual domain method, widely used for the translational motion, to develop a simple and yet effective numerical procedure for optimization of attitude dynamics based on...
In this paper, the impulsive control method is developed to stabilize the chaotic motions in a rub-impacting rotor system. The phase characteristic of the rub-impacting rotor system is investigated and used to explain the feasibility of the impulsive control method. When the impact occurs, the control approach is to implement the pulse in normal and tangential direction respectively. It is shown that...
In this study, a nominal characteristic trajectory following (NCTF) controller for point-to-point (PTP) positioning system is introduced for two mass rotary system and its performance is evaluated. Generally, the NCTF controller consists of a nominal characteristic trajectory (NCT) and a compensator. The objective of the NCTF controller is to make the object motion follow the NCT and end at its origin...
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