In this paper, dynamic equations of motion of a 5 DoF robot manipulator including mechanical arms with revolute joints and their electrical actuators are considered. The application of integrator backstepping technique for trajectory tracking in presence of parameters of uncertainty and disturbance is studied. The advantage of this control technique is that it imposes the desired properties of ...

This paper describes a novel image-based method for tracking robotic mechanisms and interventional devices during Magnetic Resonance Image (MRI)-guided procedures. It takes advantage of the multi-planar imaging capabilities of MRI to optimally image a set of localizing fiducials for passive motion tracking in the image coordinate frame. The imaging system is servoed to adaptively position the s...

In this article, a robust discrete-time open-closed-loop proportion integral differential (PID) -type iteration learning control (ILC) algorithm is developed for the high-precision trajectory tracking of tracked mobile robots (TMRs) with external disturbances and noises. The proposed ILC adopts past, current, predictive error items former current iterations to correct input variables, which fin...

In some aerospace vehicles, the tracking sensors which act in a tracking loop as stabilizer are mounted on a two degree of freedom gyro. The gyro must align its rotor axis with the line of sight in order to remove tracking errors. The tracking precision and sensitivity are functions of the gyros performance. One of the main factors in reducing the precision and producing instabilities is nutati...

High bandwidth, high resolution positioning is a significant enabling tool for nanotechnology. Unfortunately, in a typical nanopositioner operating in closed loop, higher bandwidth results in increased sensitivity to measurement noise and hence reduced resolution. In this article we present a technique that allows high-precision tracking of repetitive, jitter-free reference signals without bein...

In contrast to most hybrid vision/force research, this work uses eye-in-hand vision and force control. Mounting both sensors on the same end effector gives rise to new constraints, control issues and advantages, which are discussed in this paper. Four meaningful tool/camera configurations, being parallel or non-parallel endpoint closed-loop and fixed or variable endpoint open-loop are suggested...

This study provides a design procedure for the self tuning adaptive control of a CD arm controller. The inputs are the forces of the mechanical actuators while the outputs are related to the tracking accuracy of the arm. The data was measured in closed loop, and then through a two-step procedure converted to open loop equivalent data the inputs are highly colored. Rely on the obtained model, th...

The impact of Doppler frequency hopping on code tracking performance is simulated. A design on pseudonoise (PN) Code Tracking Loop aided by the carrier tracking loop according to the carrier frequency hoping pattern is proposed in this paper. This scheme can be applied in the Telemetry, Tracking, and Commanding system which uses Direct Sequence/Frequency Hopping Spread Spectrum (DS/FH) hybrid s...

This research applied an intelligent controller for mobile satellite antenna tracking system design. The intelligent controller is with both the traditional PI and the fuzzy control methods. The antenna tracking and the stabilization loops were designed firstly according to the bandwidth and phase margin requirements. However, the performance would be degraded if the tacking loop gain is reduce...

KEY POINTS A human controlling an external system is described most easily and conventionally as linearly and continuously translating sensory input to motor output, with the inevitable output remnant, non-linearly related to the input, attributed to sensorimotor noise. Recent experiments show sustained manual tracking involves repeated refractoriness (insensitivity to sensory information for a...