Mechatronic Servo System Control - M Nakamura S Goto and N Kyura Part 10 pot
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 10 pot
... learningthe
actualdynamics of servosystem.
(2)AMathematical Model of the MechatronicServoSystem
The mathematicalmodel of amechatronic servosystem whichisnecessary
for the construction of the Gaussian network anddeterminationofthe ... (6.31)
From theoriginalmechatronic servosystem (6.12) and the mechatronic servo
system after revision (6.31), the modificationelementtransforms the poles...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 7 potx
... com-
puterprogram implementsthe servocontroller.Its outputisput into servo
(a) Experimentresults of software servosystem
(b) Simulation results of software servosystem
(c)Experimental results ... servosystem.
(5)Relationship Among Control Performance, Torque Resolution
and ServoParameter
Therelationship amongst the control performance,torqueresolution and servo
parameter of the so...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 1 ppsx
... Kurzhanski · H. Kwakernaak · J .N. Tsitsiklis
Authors
Masatoshi Nakamura Satoru Goto
Department of Advanced Systems Department of Advanced Systems
Control Engineering Control Engineering
Saga University ... robotadoptedinindustry,numerical control working machine, three-
dimensional measurementmachine,amechatronic machinecalled achip
mounter, etc.;
Nakamura explainedtheseissues in...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 2 docx
... amechatronic servosystem
3. Performance of multiple axes in amechatronic servosystem
4. Command to servosystem
The above viewpoints come from the system components of servosystem
in theory.Itmeans that ... mechanismmachinesisillustrated.
1.2.2Discussion on the Performance of One AxisinaMechatronic
ServoSystem
In ausual, mechatronic servosystem consists of multi-axis mechanism. When
taking...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 3 doc
... according to the whole features of the
servosystem and the entire servosystem is known before regulation.
2. Forunderstanding the entire features, the exchange of themechanism part
is needed and also ... in an
industrialmechatronic servosystem, then ζ
L
=0.However, ζ
L
=0is existed
in the situation of continuous oscillation generationwhichisthe most difficult
to control. Thenthis assumpt...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 4 pps
... an
Articulated
Rob
ot
Arm
In an industrialarticulatedrobot arm, instructions aregiven in working co-
ordinate.The motorisdriven in the jointcoordinate space transformedby
nonlinearcoordinatesbycalculation in thecontroller.Hence, ... the
ch
aracteristics
of
them
ec
hatronic
serv
os
ystem
in
wo
rking
co
ordinates.
The
simplification
of
thea
nalysisa
nd
designo
fm
ec
hatronic
serv
os
ystems
is
ve...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 5 pptx
... ConditionsRequired in the Mechatronic Servo System
In the control of amechatronic servosystem, suchasarobotarm, table of
machine to ol, etc, thereare many kindsofsampling controlusing comput-
ers.
When
pe
rforming
the
cont
ourc
on
trol
of
ar
ob
ot
armo
rm
ac
hine
to
ol,
it ... below.
60
3D
iscreteT
ime
In
terv
al
of
aM
ec
hatronic
Serv
oS
ystem
time intervalofamechatronic servosystem...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 6 ppt
... control performance.
From contourcontrol performance requiredinasoftware servosystem, en-
coder resolution is determined properly.
M. Nakamura et al.: Mechatronic Servo System Control, LNCIS 300, pp. ... locus precision.
Next, by using the Fig. 3 .10 graphing the analysisresults, howmanyref-
erence input time intervals determines the control precision is discussed. If
the posit...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 9 ppsx
... servosystem, i.e., the velocityofthe
servomotor,ismovedunder 1/20 of theratedvalue, thewhole controlsystem
of the mechatronic servosystem includingcontrol equipment, servosystem
and mechanism shown ... results
6. 1M
od
ified
Ta
ugh
tD
ata
Metho
dU
sing
aM
athematical
Mo
del
123
themechatronic servosystem will be expressed by the state-space representa-
tion and the modificationelementwil...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 11 pps
... themaster-slave synchronous po-
sitioning control, whichsupp osesone axisasthe master-axisand another as
theslave-axis without alar ge characteristicvalue K
p
of theservosystem.
7.1
The
Master-Sla
ve
Sync
hronousP
ositioningC
on
trol
Method
The ... position synchronization. Concerning these disturbances, simula-
tion is made with (a) master-slave synchronous positioningcontrol method,
(b) wi...
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