There were some works on dynamical nonholonomic systems, but few works on a control method generally applied to these systems. In our previous work, we analyzed nonlinear behaviours of a 2DOF free-joint manipulator with a periodic input and developed a positioning of the both joints by modulating the amplitude of the input. The strategy was e ective but very heuristic and cannot be applied to t...

Currently, HDD (Hard Disk Drive) with VCM actuator covers more than 80% of the HDD market. To enhance the capacity and ability of the system, a new class of servo controller is required to achieve both the robustness and performance of the entire system. This paper proposes a new technique for designing a robust controller for HDD with Voice Coil motor (VCM) actuator; the control design problem...

In many applications, the manipulations require only part of the degrees of freedom (DOFs) of the endeffector, or some DOFs are more important than the rest. We name these applications prioritized manipulations. The end-effector’s DOFs are divided into those which are critical and must be controlled as precisely as possible, and those which have loose specifications, so their tracking performan...

Steering system is an important man-machine interface, for which transmits driver's lateral control intention to the vehicle. In order to improve the vehicle lateral stability, a double closed-loop control scheme of yaw rate for active front steering system was proposed in this paper. To investigate the control effects of the double closed-loop control scheme of yaw rate, a two degree-of-freedo...

We designed a small stereovision (SSV) sensor module for easily adding visual functions to a small robot and enabling their use. The SSV sensor module concept includes 1) a vision sensor module containing a camera and a visual processor and 2) connecting to a robot system through general-purpose interface. This design enables the use of visual functions as ordinary sensors such, as touch or ult...

In this paper we describe the mechanical design, gait and control for a modular hexapod robot which makes it compliant to terrain while climbing slopes up and down. The robot uses a unique electronically actuated 2DOF universal spine similar to the spine of the Snake and the four legged animals like leopard, tiger etc.By controlling the amount of stiffness of the spine we were able to make the ...

RAFI is a self-driven mapping robot with 16 Degrees-of-Freedom (DOF). Its software development, structural and electrical design and mechanical construction are presented in this paper. RAFI moves with wheels having differential type motion with 2DOF. The head has 3 DOF sufficient for volumetric mapping by rotating the head in different directions and both hands have 5 DOF to empower its grip a...

Abstract: The design of an adaptive sinusoidal disturbance rejection controller for SingleInput-Single-Output (SISO) systems is presented in this paper. Sinusoidal disturbance rejection problems exist in industry applications such as velocity ripples in a CNC milling machine. The controller is first developed based on the Internal Model Principle (IMP) and the polezero placement technique, then...

This paper reports on a visual servoing system capable of 2DOF nanopositioning using a novel multi-axis electrostatic MEMS (MicroElectroMechanical System) device. The high aspect ratio micromanipulator was fabricated using a high yield process with Deep Reactive Ion Etching (DRIE) on Silicon-On-Insulator (SOI) wafers, which produces larger electrostatic forces and requires lower actuation volta...

The contribution is focused on design and tuning of simple controllers for continuous-time SISO systems without and with time delays by algebraic methods. The control synthesis is based on general solutions of linear Diophantine equations in the ring of proper and Hurwitz stable rational functions (RPS). Both, feedback (1DOF) a feedback and feed forward (2DOF) structures of the control system a...