AbstmctIn this paper, we present a new approach to sensor-based navigation in cluttered environments. In our system, tasks are specified in terms of visual goals, and obstacles are detected by a laser range finder. To effect task performance, we introduce a new gain scheduling visual servo controller. Our approach uses a diagonal gain matrix whose entries are adjusted during execution according...

Conventional Proportional/Proportional-Integral (P/PI) speed controller of today’s servo drives should be manually tuned the controller switching set-point by trial-and-errors, which may translate the drive system down-time and loss of productivity. The adjustable drive performance is heavily dependent on the quality of the expert knowledge and becomes inadequate in applications where the opera...

This article provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinate transformations, velocity representation, and a description of the geometric asp...

In the paper, a fuzzy variable structure control with a harmonizing mechanism has been developed and applied to the positioning control of an electro-hydraulic servo system. The simulation experiment results show that the performance by using the controller is better than those by just only using either fuzzy controller or variable structure controller. In addition, it also demonstrates that it...

To achieve high quality and productivity, it is important to know what is the maximum feed rate while meeting the required part accuracy. Laser interferometers and telescoping ballbars have been used for the positioning and circular contouring measurement. However, a conventional laser is limited by the line-of-sight, and cannot tolerate large lateral deviations. A telescoping ballbar is limite...

In the latest hgh-speed and hgh-acceleration NC machine tools, the structural vibration is one of the most critical factors to deteriorate the machine's contouring performance. Particularly on such a machine, the parameters in a CNC servo control system must be carehlly tuned, since too high response of the latest CNC units often causes severe structural vibration. Ths paper presents a practica...

Due to nonlinear uncertainties of the electric scooter such as nonlinear friction force of the transmission belt and clutch, these will lead to degenerate tracking responses in command current and speed of the permanent magnet synchronous motor (PMSM) servo-driven electric scooter. In this study a novel hybrid recurrent wavelet neural network (HRWNN) control system is proposed to raise robustne...

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....