position force control of robots interacting with dynamic environment
Intelligent control of robots interacting with unknown environments
... position/ force control which aims at controlling force and position in a nonconflicting way [6, 7] Under hybrid position/ force control, force control is designed so that rapid rise time of force, ... trajectory with impedance control, Y axis 110 5.7 Interaction force with impedance control 111 5.8 Impedance error with impedance control 111 5.9 Adaptive parameters with ... error of the inner position control loop, in the case of pointto-point movement 138 6.6 Adaptation parameters of the inner position control loop, in the case of point-to-point...
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Báo cáo hóa học: " Characterization of age-related modifications of upper limb motor control strategies in a new dynamic environment" docx
... velocity dependent force field Contrary to visual perturbation which causes a modification of the perceived kinematics of movements, changing the mechanical environment interacting with the subject ... Evolution of the of the smoothness parameters N.Jerk throughout the experiment in one of the eight direction Evolution of the of the smoothness parameters N.Jerk throughout the experiment in one of ... different targets positioned every 45° on the perimeter of a circle with a 14 cm diameter Subjects performed pointing exercises both in null force field (NF) and in a velocity-dependent force field...
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Mechanical Systems Design C22 Control of Robots docx
... generations of robots have to take into account the dynamics of robots The control law which takes into account all (or some of) dynamic forces in the robotic systems is called the dynamic control of robots ... ensure accurate tracking of fast trajectories we cannot apply only local servos, the dynamic forces must be compensated for 22.4.2 Dynamic Control of Robots A number of robots available in the ... space applications, etc.) Therefore, control systems of the current and future generations of robots required such capabilities 22.2 Hierarchical Control of Robots Control systems which can accommodate...
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báo cáo khoa học: " Control of mandibular incisors with the combined Herbst and completely customized lingual appliance - a pilot study" ppsx
... centre of resistance, which in turn results in a reverse moment of force to which the Page of archwire is exposed Still higher levels of anchorage can be achieved by using one or a combination of ... from -16.5° to 5.8°, with two cases (10, 3) with a CCW rotation of more than 13° (Figure 2) For case 10 the planned rotation (-16.5°) was nearly achieved with an undercorrection of 1°, whereas case ... Kruskal-Wallis test) was performed with R [8] Figure Top: Planned tooth position of Incognito’s setup with virtual Herbst telescopes attached Middle: Landmarks placed on the midpoints of the visible crowns...
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Randomized algorithms for control of uncertain systems with application to hand disk drives
... Algorithms for Control of Uncertain Systems with Application to Hard Disk Drives Mohammadreza Chamanbaz B.Sc., Shiraz University of Technology (SUTECH) A THESIS SUBMITTED FOR THE DEGREE OF DOCTOR OF PHILOSOPHY ... Appendix 3.9.1 Proof of Theorem 3.2 3.9.2 Proof of Theorem 3.3 3.9.3 Proof of Theorem 3.1 Application ... rate of violation is sufficiently small This concept is formally expressed using the notion of “probability of violation” Definition 2.1 (Probability of Violation) The probability of violation of...
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Adaptive neural control of nonlinear systems with hysteresis
... MIMO plant S2 with classic PI hysteresis102 4.13 Control signals of MIMO plant S2 with classic PI hysteresis 102 x List of Figures 4.14 Norm of NN weights of MIMO plant S2 with classic PI ... behavior of neural networks of SISO plant S1 with classic PI hysteresis 98 4.6 Norm of NN weights of SISO plant S1 with classic PI hysteresis 99 4.7 The behavior of ... performance of SISO plant S1 with classic PI hysteresis 97 4.3 Control signals of SISO plant S1 with classic PI hysteresis 4.4 Tracking error comparison result of SISO plant S1 with classic...
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Control of mechanical systems with backlash problem
... other parts of the controller are left intact The proof of the modified controller is the same as the proof procedure of [1] 4.3.3 Adaptive Control Unlike robust control, an adaptive controller ... 3.3 Design of Control System with Backlash Actuator position control is a very classical control topic The controller design can be found in many papers and text books However, these controllers’ ... 4.14(a and b) Results of Adaptive control ………………………………… …54 Figure 4.15(a and b) Results of robust control simulation …………………………….57 Figure 4.16(a and b) Results of adaptive control simulation ………………………….58...
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AN1017 sinusoidal control of PMSM motors with dsPIC30F DSC
... phase with rotor position Synchronize sine-wave phase with rotor position SINUSOIDAL CONTROL OF PMSM MOTORS WITH DSPIC30F DSC © 2005 Microchip Technology Inc FIGURE 8: SINUSOIDAL CONTROL OF PMSM ... Microchip Technology Inc SINUSOIDAL CONTROL OF PMSM MOTORS WITH DSPIC30F DSC IMPLEMENTATION OF SINUSOIDAL VOLTAGE CONTROL control loop only controls Amplitude The value of Phase from the Phase Advance ... becomes the I output term of the PID controller The Differential (D) term of the PID controller is used to enhance the speed of the controller and responds to the rate of change of the error signal...
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Summary phd thesis in philosophy roles of the government in the integration of economic growth with ecological environment protection in vietnam nowadays
... protection of resource- environment, raise people’s awareness of the importance of the integration of economic growth with ecological environment protection, etc From the above analysis, the study of ... units of wards, communes The connection of Ministry of Natural Resources and Environment with other ministries such as the Ministry of Science and Technology, Ministry of Finance, Ministry of Health ... WITH ECOLOGICAL ENVIRONMENT PROTECTION OF VIETNAM TODAY 4.1 THE SOLUTION GROUP OF ENHANCING EFFICIENCY OF BUILDING THE SYSTEMS OF POLICIES, STRATEGIES, LAWS OF THE GOVERNMENT IN COMBINATION OF...
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DESIGN AND CONTROL OF AUTONOMOUS MOBILE ROBOTS WITH IMPROVED DYNAMIC STABILITY 1
... analysis of the development and classification of different kinds of wheeled mobile robots can be found in [1] For all these kinds of mobile robots, the nonholonomic constraints reduce the range of ... Coordinates of the center of mass of the robot w.r.t the inertia frame Precession and lean angle of the wheel respectively tilt angle between the link l1 and za -axis of the flywheel Spin angles of the ... radius of the curvature from the center of rotation to the contact point and va (t) is the velocity of contact point The line following controller was divided into two part for ease of control: ...
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DESIGN AND CONTROL OF AUTONOMOUS MOBILE ROBOTS WITH IMPROVED DYNAMIC STABILITY 2
... models for the dynamic behavior of the system The simulator has been effectively used for the analysis of dynamic behavior of the Gyrobot in both open loop condition and with closed loop controller ... 5.2.4 (5.7) Control of Translational Motion Control of the linear velocity of the wheel can be accomplished by applying a close loop control around the drive motor If the radius of the Gyrobotwheel ... University, the center of the mass of the flywheel coincides with that of the inner mechanism in our design In CMU design, the flywheel is attached to the end of the second link (length l2 ) of a 2-link arm...
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Direct torque and indirect flux control of brushless DC motor with non sinusoidal back EMF without position sensor
... iqs − ϕ q ids ) Fig 2: Block diagram of the direct torque and indirect flux control of four-switch BLDC motor drive using three-phase conduction mode without position sensor 0.7 1.5 Three - phase ... electrical rotor position, (e) estimated -0.01 electrical rotor position, (f) error of actual and estimated electrical -0.02 -0.03 (j) Fig Simulation results of direct torque and indirect Flux Control ... Conduction 2.1 Principles of the Proposed Method Title Block Indirect torque control method of BLDC motor explained in [9] was extended to a direct torque and indirect flux control technique for...
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báo cáo hóa học:" Force-feedback interaction with a neural oscillator model: for shared human-robot control of a virtual percussion instrument" doc
... move the force feedback device with a 90◦ phase lag Our results suggest an extension of dynamic pattern theory to force feedback tasks In closing, we provide an overview of how a similar force feedback ... modeled for simulating locomotion of vertebrates and controlling robots Figure depicts a model of a Salamander robot with a CPG consisting of ten neural oscillators, each controlling one joint during ... degree -of- freedom extensions of this study Imagine if a human could interact using force feedback with the state variables of a Salamander robot CPG For example, in an artistic setting, the motion of...
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force motion control of constrained robots using sliding mode
... Sinha, and M A Elbestawi, “On adaptive force/ motion control of constrained robots, ” in Proc ZECON’89, 1989, p 433 [4] X Yun, Dynamic state feedback control of constrained robot manipulator,’’ in ... stabilization and tracking of constrained robots, ” IEEE Trans Automat Contr., vol 33, pp 419-426, May 1988 [2] J K Mills and A A Goldenberg, Force and position control of manipulators during constrained ... Q J Zhou, Force/ motion control of constrained robots using sliding mode,” IEEE Trans Automat Cont., vol 37, no 5, May 1992, pp 668-672 [2] J J E Slotine and W Li, Applied Nonlinear Control Englewood...
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Slip modelling, estimation and control of omnidirectional wheeled mobile robots with powered caster wheels
... 83 5.3 Control algorithm of the Traction Limit Avoidance (TLA) scheme 85 5.4 Control algorithm of the Slip Constraint Force Control (SCFC) scheme 90 5.5 Control algorithm of the Unified Force/ Motion ... the internal forces of the wheel e control error F operational space forces of the mobile robot f state coefficient function of the state space equations Fo null space forces Ft forces of the main ... space forces of the mobile robot Fε constraint forces associated with the wheel slip velocities Fc wheel contact forces Fx longitudinal contact force of the wheel Fy lateral contact force of the...
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Báo cáo y học: "Identification of Cellular Membrane Proteins Interacting with Hepatitis B Surface Antigen using Yeast Split-Ubiquitin System"
... terminus of Cub will be cleaved off and result in downstream reactions, which is the activation of LacZ and HIS3 reporter genes [7] 3.2 Identification of Cellular Membrane Proteins Interacting with ... medium (rate of 65.8) was significantly higher than the negative control (normal Int J Med Sci 2005 116 culture medium with a rate of 4.3), but lower than the positive control (rate of 221.4) Our ... and characterize, in an environment, cellular proteins interacting not only with soluble HBV proteins, but also with membrane bound HBsAg To this end, a linearised form of HBV genome has been...
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Direct torque control of brushless DC motor with non sinusoidal back EMF
... consecutive commutations complicates the control of the stator flux linkage amplitude because it depends on the size of the sharp dips and the depth of the change may vary with sampling time, dc-link voltage, ... Representation of two-phase switching states of the inverter voltage space vectors for a BLDC motor Usually the overall control system of a BLDC motor drive includes three hall-effect position sensors ... with ideal trapezoidal back-EMF, respectively Steady-state speed control is performed with an inner-loop torque control without flux control Stator flux linkage is estimated using (1) as an openloop...
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Direct torque control of four switch brushless DC motor with non sinusoidal back EMF
... motor with actual backapplied Position Hysteresis EMF waveforms, respectively Steady-state speed control Encoder Motor Brake is performed with an inner-loop torque control without flux control ... various cases with and without stator flux control, switch states and 2, respectively in order to demonstrate the validity of the proposed four-switch DTC of a BLDC motor drive scheme with two-phase ... resolution of the position sensor (for example incremental encoder with 2048 pulses/revolution), therefore a good torque estimation can be obtained in (1) C Torque Control Strategies of the Uncontrolled...
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Tài liệu ime Control of a Three Phase 4 Wire PWM Inverter with Variable DC Link Voltage and Battery Storage for PV Application doc
... as a re esult of the c controllable dc link volta as indica in the ri age ated ight hand sub b diagram d Figure capacitor v voltage of the output filt with unbalanced load and controlled DC lin ... "Dead Beat Control of threePhase PWM Inverter", IEEE Transactions on Power Electronics, Vol 5, No 1, January 1990, pp 21-28 [3] Osman Kükrer, "Deadbeat Control of a Three-Phase Inverter with an ... dy m ynamic perfo ormance of t introduce dead beat control met the ed t thod as the distur a rbance of the output voltage is quick compensa e kly ated The dis stortion of th output vol he ltage...
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Tài liệu Báo cáo " PATH INTEGRAL QUANTIZATION OF SELF INTERACTING SCALAR FIELD WITH HIGHER DERIVATIVES " pdf
... Extension of this result to electrodynamics (interacting with matter), string theory or gravity theory will be studied latter Path Integral Quantization Of Self -Interacting Scalar Field With Higher ... self -interacting φ3 scalar field are found In general, when interacting term is more complicated, for example it contains derivatives of φ, Feynman diagrams will have ˙ ˙ ˙ two more new kinds of ... diagrams and propagators of self -interacting scalar field in the next section SCALAR FIELD IN φ3 THEORY Now, we consider φ3 self -interacting scalar field by adding an interacting term Lint = −...
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