The paper describes the identification of the variable critical gain and natural frequency of the pneumatic cylinder using the self-excited oscillations method. The pneumatic drives are characterized by the low stiffness of the pneumatic cylinder which depends on the piston position and determines the natural frequency of the cylinder. The variety of the stiffness in dependence on the piston po...

As a popular controller used in the industrial servo drives, the pseudo derivative feedback with feedforward (PDFF) scheme has 3 parameters for tuning to achieve a good trade-off design between tracking and dynamic stiffness. However, the two parameters in the feedback path of the PDFF controller are restricted to constant for design simplicity that limits its dynamic stiffness. This paper pres...

The paper presents a complete (animation, simulation and internet-based measurement) multimedia educational program of DC servo system for distant learning. The animation program includes screens for teaching in class and for individual study as well. The final and most important step in any kind of education in the field engineering is the measurement. This is the most challenging step in dist...

his article deals with the identification of nonlinear models T in observer canonical form of hydraulic servo-drives from sampled data of input-output measurements. The data are processed by a modified Recursive Instrumental Variables algorithm, to provide input-output relationships of the plant dynamics. From the parameters of the input-output relations, continuous state-space nonlinear models...

This paper presents a PID tuning technique with the aim to reduce the degradation of the performance for the optimal settings (servo or regulation), when the operating mode of the system is different from the select one for tuning. The above is achieved from the definition of the Performance Degradation concept, that is a way for measuring this kind of loss on both extreme situations of tuning....

The robotics research program at Florida International University develops a broad range of robotic systems with a level of capability and robustness that supports long term, applied field operations. This paper provides insight into the design of a 1-Degree of Freedom (DOF) force-reflecting manual controller (FRMC) for the development of a teleoperation system by reviewing the wave variables t...

This paper poses a number of questions related to the performance and structure of closed-loop visual control, or visual servo, systems. While the fundamentals of visual servo control are well known and systems have been demonstrated for many years, the achieved performance is far less than could be expected. In particular the questions discussed relate to fundamental control system structure, ...

In this paper we address visual servoing through a xed stereo rig using an image Jacobian. Existing methods are based on the stacking of monocular servo image Jacobians, resulting in largely over-constrained control commands. In this paper we formally show that the epipolar constraint between two images can be taken into account explicitly. We then show that use of stereo signiicantly increases...