A necessary condition for the existence of a stable PID controller for a given plant is introduced. The derived rule is straightforward to check and applies generally for LTI systems, including time-continuous, time-d...
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A necessary condition for the existence of a stable PID controller for a given plant is introduced. The derived rule is straightforward to check and applies generally for LTI systems, including time-continuous, time-discrete and time-delay systems. Therefore, the plot of a directly constructing function is checked for a required minimal number of real zeros.
This paper introduces a novel two degree of freedom resonant control structure for current control in a stationary reference frame in one- or three-phase power electronics systems. The main focus is put on the design ...
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ISBN:
(纸本)9075815085
This paper introduces a novel two degree of freedom resonant control structure for current control in a stationary reference frame in one- or three-phase power electronics systems. The main focus is put on the design of the controller for robust tracking of a single or a linear combination of harmonic components, while providing robustness with respect to load parameter variations, disturbance and measurement noise. The method is applied for current control of a single phase active power filter.
The mobile service robots will share their workspaces e.g. offices, hospitals or households with humans. Thus a direct contact between man and machine is inevitably. Robots equipped with appropriate sensors can sense ...
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For a free-floating space robotic system we present two approaches for computing the robotic joint and satellite base variables, and hence the actual end effector trajectory, given the desired trajectory. The computat...
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For a free-floating space robotic system we present two approaches for computing the robotic joint and satellite base variables, and hence the actual end effector trajectory, given the desired trajectory. The computation is more complex if we additionally admit kinematic redundancy of the manipulator system. The first approach is based upon a Lagrangian optimization technique with appropriate constraints. The second one relies on the possibility to separate the overall motion into a relative part representing the influence of the manipulator motion relative to the satellite base, and a second or absolute part that accounts for the influence of the acceleration of the base due to the robot motion. The two methods are compared in their performance by applying them to a dedicated satellite robotic servicing scenario (TECSAS), that is presently in its development phase as a near-future space mission.
For planetary rovers often very unconventional suspension and tyre designs are investigated. With the possibility of Multibody System (MBS) simulation one has the unique opportunity to investigate a wide range of pote...
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For planetary rovers often very unconventional suspension and tyre designs are investigated. With the possibility of Multibody System (MBS) simulation one has the unique opportunity to investigate a wide range of potential configurations and terrains and, moreover, the importance of the dynamical effects can be efficiently taken into account. The main goal is to reduce the amount of costly prototypes and give assistance in field experiments. A great advantage is the integration of the Multibody System simulation and the very complex tyre-soil interaction into the vehicle's conceptual design process. This ranges from kinematic investigations for gradeability, maximum step crossing and side slope driving up to investigations of tyre-soil interaction with respect to tyre sinkage and rolling resistance. In this paper the focus lies on the simulation of longitudinal slip of tyres on soft soil which is important to bear in mind when considering driven wheels and, furthermore, slip sinkage behaviour.
Minimally invasive surgery in combination with ultrasound (US) imaging imposes high demands on the surgeon's hand-eye-coordination capabilities. A possible solution to reduce these requirements is minimally invasi...
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ISBN:
(数字)9783540264316
ISBN:
(纸本)3540250522
Minimally invasive surgery in combination with ultrasound (US) imaging imposes high demands on the surgeon's hand-eye-coordination capabilities. A possible solution to reduce these requirements is minimally invasive robotic surgery in which the instrument is guided by visual servoing towards the goal defined by the surgeon in the US image. This approach requires robust tracking of the instrument in the US image sequences which is known to be difficult due to poor image quality. This paper presents computer vision algorithms and results of experiments for different instrument materials.
This paper proposes an accurate kinesthetic haptic display method for a multi-DOF haptic interface. Position-position (p-p) architecture plays an important role in a haptic interface like four channel architecture sin...
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ISBN:
(纸本)0780389123
This paper proposes an accurate kinesthetic haptic display method for a multi-DOF haptic interface. Position-position (p-p) architecture plays an important role in a haptic interface like four channel architecture since force reflection using only force sensor information induces a serious problem if a slave manipulator is constrained by unexpected obstacles the force sensor cannot detect. However, the conventional p-p architecture in literature has limitations to apply to a multi-DOF haptic interface. This paper indicates the limitation through an example and proposes a novel haptic display method using instantaneous restriction space (IRS). IRS can be calculated using Jacobian and joint angle error of a slave manipulator. Since the proposed method has the form of impedance two port architecture in the sense of data flow, it can be easily combined with the previous results of two-port haptic display framework in literature. The method is compared to the conventional p-p architecture through experiments.
In this paper the design and kinematic performances are presented for a low-cost parallel manipulator with 4 driven cables. It has been conceived for an easy programming of its operation by properly formulating the Ki...
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In this paper the design and kinematic performances are presented for a low-cost parallel manipulator with 4 driven cables. It has been conceived for an easy programming of its operation by properly formulating the Kinematics of the parallel architecture that uses cables. A prototype has been built and tests have experienced the feasibility of the system design and its operation.
End of Life Management (EOL) is currently a hot topic in the electronics industry. Currently mostly IT equipment and goods of consumer electronics are considered. in the nearest future automation equipment have also t...
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