Special Issue: Advanced Motion Control. Motion Control Using VSS.
نویسندگان
چکیده
منابع مشابه
Advanced Control of Biped Robot Motion
Next generation robots will be required to operate alongside people in complex environments that are primarily designed for humans. Humanoid robots present themselves as the logical choice for such tasks. In order to successfully navigate within human environments, humanoid robots require complex dynamic movements with robust balance maintenance on uneven terrain and during unexpected balance d...
متن کاملAdvanced Motion Control: An Industrial Perspective
Ind~~strial feedback motion controllers are hmed using inanual loopshaping, according to certain design r~des. This controller tuning serves as a benchmark for robust control research as applied to optical and magnetic disk drive storage systems. The design and implementation of robz~st controllers for the focus servo of a compact disk and the tmcking servo of a hard disk mechanism is investiga...
متن کاملAdvanced Digital Motion Control Based on Multirate Sampling Control
In this paper, our recent studies on multirate sampling control and its application to motion control systems are reviewed. Especially, multirate two-degreeof-freedom controllers are focused on, where it is restricted that the sampling period of plant output is longer than the control period. The proposed controllers assure perfect tracking control (PTC) and perfect disturbance rejection (PDR) ...
متن کاملRobust Hybrid Motion Force Control Algorithm for Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1993
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.11.515