The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper studies the system identification, modeling and precision motion control of coreless linear motor drive stage which offers several advantages over its rotary counterparts in many applications requiring linear motion by eliminating mechanical transmission mechanisms. System identification is first carried out to capture the system dynamics characteristics. And with a precision motion control...
In the movement of multiple robots, the robot formation is one of the important attributes of colony activities. It has an important significance to recognize robot formations for evaluating the spot situation and making decisions. A new algorithm is proposed in this paper for recognition of robot linear formations. On the basis of pre-processing, (that is, each robot is segmented from the spot and...
This paper investigates the search probability and camera footprint of region coverage for UAVs. Two kinds of search probability by using the UAV camera are proposed. Moreover, the relationship between the UAV altitude and the camera footprint is also studied in this paper. Some formulars concerned with the UAV camera footprint are developed in two cases: flat flying and roll motion, and yaw motion...
Biomimetic robots have recently received increasing attention, as people try to learn from nature in which exist amazing and uniquely evolved mechanisms shown by very species. Fleas, as such one example, are best jumper of all known animals in the world, considering their body size. It can jump about 150 to 200 times its own body length. This paper reports on modeling and simulation of a jumping biomimetic...
This paper presents one implementation of an ILC (iterative learning control) algorithm in motion-focused production control systems. The implementation is an enhancement, but not a replacement of PID tuning. It is able to improve the system performance in terms of following error without re-tuning PID parameters when the operation conditions, such as mechanical device, load, and motion profile, change...
In this article, a novel approach to the Coulomb friction identification problem of mechatronic servo systems with limited strokes is presented. The proposed approach utilizes two sinusoidal position reference inputs having the same amplitude to frequency ratio, and the first order time integral of torque reference inputs over multiple time intervals of the same increment of motor position. The proposed...
We describe here a mechanical system that can grasp, unfold, and position fabrics in a series of motions. Fabric setting process by a human consists of wiping, pinching, unfolding, and placing motions. This setting process can be performed using a single-armed robot with a gripper hand having four degrees of freedom. For grasping the fabric, the robotic gripper wrinkles part of it, causing residual...
The paper deals with the dynamic analysis of human arm, determination of shoulder and elbow torques considering isotonic and isokinetic exercise activities. Using Lagrangian-Euler method for dynamic equation of motions, code in MATLAB are developed which can be used to give torques encountered at shoulder and elbow joints for the respective trajectories obtained for different cases. Video tracking...
The G-code programming language, introduced in the early 1960psilas, continues to be used to program motions for modern computer numerical controlled (CNC) machines. Vendors augment the motion control commands with various macro languages and other rudimentary programming languages to provide for parametric and flexible CNC programming. More modern programming languages promise greater capability,...
A robust asymptotic output command tracking controller is proposed to control the longitudinal motion of an aircraft model involving atmospheric gusts. The controller covers various flight conditions. The stability derivatives of the aircraft and the velocity of the aircraft are considered to be uncertain parameters. The output of the closed loop system tracks step and ramp type reference signals...
In a companion paper we have presented a practical formation motion control scheme for robotic swarms based on single view depth estimation. In this paper we adapt this control scheme to the cases where there are obstacles to be avoided in the region of interest. First, a set of distributed control laws for the agents, to be incorporated with depth (distance) estimation scheme, are introduced to move...
An energy based control problem of the pendubot in terms of normalized quasi-velocities (NQVs) is considered in this paper. Introducing the NQVs vector together with generalized coordinates leads to first-order equations of motion with the identity mass matrix of the system. The obtained differential equations are next used to design decoupled controller for stabilizing the system around one of its...
In robot constrained motion problems with frictional contacts, uncertainties on the contacted surface slope distort control targets and affect the control system performance. The surface normal direction cosines are in this case uncertain parameters that are involved in both the control law and the control targets. This work proposes an adaptive controller that achieves the desired goal given a persistently...
The current paper presents and examines simple analytic solutions to the fuel-optimal reconfiguration problem of multiple satellites governed by various relative equations of motion. The problem is addressed by solving a standard optimal control problem for a linear time-varying system. This paper shows that the optimal thrust vector is directly proportional to the fundamental matrix associated with...
To solve the problem on automatic behavior control of a micro wall-climbing robot when its suction foot was not fulfilled enough vacuum pressure on an unsmoothed wall, a motion control method based on initiative exploration was proposed. Firstly the basic gaits of the micro wall-climbing robot were analyzed. Then a finite state machine model of the suction foot of the robot was introduced. In addition,...
This paper is concerned with the design and simulation of a pulse width modulation (PWM) rectifier for three-phase Permanent Magnetic motor drive. Based on the mathematical model of PWM rectifier, the dual-close-loop engineering design with decoupled feed-forward control is applied in the 3-phase voltage source rectifier. The objective to be reached is to realize unity power factor at the input ac...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.