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In the typical industrial applications, the object grasping or manipulation is usually implemented on industrial robots. However, the correct object manipulation also implies to avoid damages. On the other hand, interaction is an action which is influenced by other actions between two or more entities. In this paper an alternative method for interaction control, which is a combination of velocity...
This paper is about the estimation of the elongation speed in a motorcycle electro-hydraulic suspension using a couple of accelerometers or a single sensor at wheel side. A Kalman filtering approach allows to successfully solve the estimation problem in both the cases, overcoming the vibrational disturbances which heavily affect the accelerometers on a sport motorbike. To be implemented on an off-the-shelf...
Recently, doctor and medical care persons are shortage by the aging of population. Thus, support systems using a robot are needed for future medical care. The position controller and velocity controller are used in order to operate the human support system. However, these controllers cannot consider complicate and natural human motion. This paper proposes a method of human support system using motion-copying...
Generally, friction/disturbance compensation is an important issue in high-precision motion control applications. In particular, when the system under control undergoes low-speed or reversal motions, the friction force and external disturbances will degrade motion accuracy. Therefore, to achieve satisfactory motion performance, it is necessary to simultaneously compensate for the friction force and...
Forced dynamics control principles are used for position control of the drive employing linear permanent magnet synchronous motors with flexible coupling. The designed controller is of the cascade structure, comprising an inner speed control loop and an outer position control loop. Inner speed loop is based on feedback linearization and respects principles of vector control. Outer loops for moving...
A three-channel bilateral control system which is hybrid of position control and force control in the acceleration dimension based on disturbance observer gets unstable in contact with environments under time delay. In this control system, the sum of master force and slave force is controlled to zero in common modal space to realize the law of action-reaction. This paper proposes a velocity damping...
The goal of this paper is utilization of the state observer to research a new capability of controlling the axial gap self-bearing motor. Analytical and experimental evaluation for a sensorless speed vector control of a salient axial gap self-bearing motor is presented. The approach is based on the estimation of the extended electromotive force (EEMF) through a Luenberger Observer (LO) with help of...
In this paper, a sensorless speed controller for linear induction motor (LIM) is developed based on a fuzzy observer. First, the LIM is represented by a T-S fuzzy model. Next, the fuzzy observer is constructed to estimate the immeasurable states including the mover speed and secondary flux, where the observer gains are obtained by computationally solving a set of linear matrix inequalities. Based...
Design and verification of forced dynamics position control of a drive with a linear permanent magnet synchronous motor is presented. This control method is a relatively new one and using the principles of feedback linearisation offers an accurate realisation of a dynamic speed and position response, which can be selected for a given application by the user. In addition to this, the primary part current...
This paper describes a power assist control in pushing task by an electric wheelchair. Recently, wheelchairs are widely used in daily lives by disabled person. In this paper, a new power assist control using acceleration information of object is proposed as intelligent function of wheelchair. In this strategy, acceleration information of object is utilized to generate the power assist torque for wheels...
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