This paper describes a method for estimating forces applied at the end effector of a robot without the need for force sensors. Servo motor currents and positions are used together with an accurate system model to estimate applied forces. The system model includes inertia, friction and position dependent force components. The signal processing techniques required to extract the force information...

We describe a robotic system composed of a manipulator and two cameras. We use the vision system to guide the robot hand to a visible target. The camera positions are known only approximately. Our system does not use the details of the kinematics of the manipulator. There is no common frame of reference linking vision system, workspace and robot hand. The stereo vision system gives information ...

Servo-hydraulic control is regarded as a key technology in most mechanical testing systems for the investigation of strength and fatigue properties of materials, mechanical components and structures. High performance but robust control strategies are necessary as part of the test control system to ensure high test quality and reproducible test results which are of special importance when consid...

At present most of the design of textbooks and materials are used to stabilize the bode diagram of hydraulic servo control system to determine the stability of; In this paper, using MATLAB to describe the open-loop transfer function, combined with extreme pzmap to analyze the distribution of its open-loop system nyquist maps, and time-domain analysis and comparison of the graphics, graphics, in...

This paper presents an internal model-based approach for trajectory tracking in the discrete time-varying setting. A newly designed parallel kinematics servo gantry is well suited for high precision contouring at high speed ranges. The discrete time-varying internal model-based control is developed for controlling the servo gantry system to track complicated trajectories generated by linear tim...

Development of automation and robotization in manufacturing process stimulates interest in pneumatic servo-systems whose advantages include low manufacturing costs, high dynamics and reliability (Situm et al., 2004). Unsatisfactory positioning accuracy of multiaxis pneumatic servosytems considerably reduces their application in manipulating machines, manipulators and robots. Rapid advance in pa...

A new seismic isolation system, TAMA Seismic Attenuation System (TAMA-SAS), was installed to TAMA300 in order to improve the sensitivity at low frequencies. Inertial damping is one of the hierarchical control systems of the TAMA-SAS which are employed to give full play to its ability. We have established two servo loops to control the Inverted Pendulum (IP) which composes the SAS. One is the se...

In this paper, a design of modularized dual-joint servo controller on-chip for a space manipulator system is presented. All sensor information collection within the joints are obtained with FPGA hardware logic elements, and the joint space trajectory planning and position control are realized by Nios II soft-core processor, which is embedded in FPGA. Moreover, a dualredundant CAN bus Interface ...

Archival demands for digital tape storage systems require smaller spacing between data tracks on the magnetic tape to allow for more data storage on a single cartridge. Increasing track density while maintaining track following provides a challenge for the servo control of the tape drive. In particular, interchangeable tape cartridges and time-varying tape reel diameters during operation cause ...

A directional drilling tool control unit whose design is based on servo control of a rotary valve using the roll-stabilised instrumented system approach has been successfully used in oil fields for over twenty years. In this paper, Field Oriented Control (FOC) is applied to cascaded voltage regulation and servo control using a open-loop plant model of the roll-stabilised control unit. The servo...