This paper deals with the dynamic control of a parallel robot with C5 joints. Computed torque control and robust control have been studied and implemented. For this purpose, we have used the inverse dynamic model whose parameters have been experimentally identified. The closed loop stability has been studied using the Lyapunov principle. The addition of a robustness term based on sliding mode t...

A technique is presented for designing command profiles for flexible systems whose operational performance is restricted by a limit on actuator effort. To ensure maximum throughput, the command signal is restricted to a series of positive and negative pulses, whose amplitude is equal to the maximum actuator effort (torque limit). The command profiles are further required to move the system to a...

Main objective of this research is to find out the torque characteristics and its relation to critical parameters that are essential to run an exoskeleton. The torque required for the arm movements, joint torques because of gravity and residual forces are the key parameters that one need to consider while designing an exoskeleton for the upper extremity joints. For finding out these parameters,...

The observed braking index n obs which had been determined for a few young pulsars, had been found to differ from the expected value for a rotating magnetic dipole model. In addition, the observational jerk parameter, determined for two of these pulsars, disagrees with the theoretical prediction m obs = 15 in both cases. We propose a simple model able to account for these differences, based on ...

− This paper presents a set of results regarding the torque of travelling wave ultrasonic motor. It is known the fact that at this type of motor there are a set of phenomena which requires some advanced investigations. The analysis of torque characteristics requires precision measure methods, torquemeters or dinamometers. The torque dependence and influence of specifical parameters are presente...

Natural wind is stochastic, being characterized by its speed and direction which change randomly and frequently. Because of the certain lag in control systems and the yaw body itself, wind turbines cannot be accurately aligned toward the wind direction when the wind speed and wind direction change frequently. Thus, wind turbines often suffer from a series of engineering issues during operation,...

Automated gear-shifts are critical procedures for the driveline as they are demanded to work as fast and accurate as possible. The torque control of a driveline is especially important for the driver’s feeling of driveability. In the case of gear-shifts and torque control in general, the boost pressure is key to achieve good response and thereby a fast gear-shift. An experimental study is carri...

Development of power electronics and real time control technology for Hybrid Electric Vehicle (HEV) is presented. These include AC drives with real time torque control, compact and rugged induction motors, auxiliary electric circuits etc. In this paper developed a set of DSP based circuits for AC Induction Motor Drives for EVs. It provides torque control for propulsion and power control for gen...

Different variables affect the performance of the Stirling engine and are considered in optimization and designing activities. Among these factors, torque and power have the greatest effect on the robustness of the Stirling engine, so they need to be determined with low uncertainty and high precision. In this article, the distribution of torque and power are determined using experimental data. ...

The successful control of a robot hand with multiple degrees of freedom not only requires sensors to determine the state of the hand but also a thorough understanding of the actuator system and its properties. This article presents a set of sensors and analyzes the actuator properties of an anthropomorphic robot hand driven by flexible fluidic actuators. These flexible and compact actuators are...