In this paper, the SPT (Singular Perturbation Theory) is applied to decompose the VCM's (Voice Coil Motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control ...
详细信息
In this paper, the SPT (singular perturbation theory) is applied to decompose the VCM's (voice coil motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control ...
详细信息
ISBN:
(纸本)1424401704
In this paper, the SPT (singular perturbation theory) is applied to decompose the VCM's (voice coil motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control system is decomposed into fast and slow time scale for controller designs, and control effectiveness is increased to tackle more DOFs (degrees-of-freedom) via inner loop vibration suppression with measured high frequency VCM's and PZT active suspension's dynamics from the piezoelectric elements in the suspension. Experimental results on a commercial HDD with LDV (laser Doppler vibrometer) show effective suppression of the VCM and PZT active suspension's flexible resonant modes as well as an improvement of 39.9% in 3sigma PES (position error signal) during track following when compared to conventional notch-based servos
Presents our finding of a critical point that has not been reported thus far in the inverse kinematics of redundant manipulators under inequality constraints. The critical point, named algorithmic barrier was first en...
详细信息
Presents our finding of a critical point that has not been reported thus far in the inverse kinematics of redundant manipulators under inequality constraints. The critical point, named algorithmic barrier was first encountered in the form of peculiar phenomena in our experiment with an 8-DOF robot, which we believe to have significance in the order of so-called algorithmic singularity. In addition, the paper deals with the characteristics of optimal solutions (COS) in resolving manipulator redundancy under inequality constraints. In order to analyze the COS, analytic functions of sufficient conditions and critical point conditions are derived. As a result, we find that COS is drastically affected by the introduction of inequality constraints. That is, COS under no inequality constraints is known to change only at algorithmic singularity while COS under inequality constraints turns out to change at semi-singularity and algorithmic barrier as well as algorithmic singularity. We prove the existence the critical points and present their analytical properties by using a planar 3-DOF manipulator.
For resolving the manipulator redundancy under inequality constraints, the compact QP method (including the improved Compact QP method) is very effective and efficient. From a viewpoint of practical applications, howe...
详细信息
For resolving the manipulator redundancy under inequality constraints, the compact QP method (including the improved Compact QP method) is very effective and efficient. From a viewpoint of practical applications, howe...
详细信息
ISBN:
(纸本)078034300X
For resolving the manipulator redundancy under inequality constraints, the compact QP method (including the improved Compact QP method) is very effective and efficient. From a viewpoint of practical applications, however, it turns out, we found, to have some performance limitations such as unrealistically high torque due to joint angle limit constraints and tracking errors due to joint torque limit constraints under parameter variation and disturbance. Remedying the limitations, the enhanced compact QP method is developed by using the practical inequality constraints with p-step-ahead predictor and time delay estimation. Through dynamic simulation results, it is verified that the enhanced compact QP method significantly improves the compact QP method in terms of efficiency and effectiveness for the real-time control of redundant manipulators under physical limits.
This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic ...
详细信息
This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.
暂无评论