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...

This paper discusses the influence of the position feedback sensor technology in servo drive applications. Incremental encoders, resolvers, and sinusoidal encoders are considered. Different hardware and software techniques used for the processing of position measurement signals are presented. Advantages and drawbacks are discussed for each solution. The choice of the best suited position feedba...

in this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. it provides both robust tracking and load swing suppression. inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. the crane nonlinearities are then tr...

An off-line identification method based on the least-squares approximation technique is applied for identifying of electromechanical parameters of a servo drive model. The proposed identification method solves a problem of experimental data automatic obtaining with angular velocity limitation and angle limitation. The developed algorithm can be automatically adjusted during its work to achieve ...

This paper investigates artificial neural network (ANN) based modelling and compensation of nonlinear friction which is a major cause of performance degradation in servo mechanisms. Different friction modelling and compensation schemes have been reviewed and neural network based hybrid compensation methods are proposed and experimentally tested on a direct drive servo mechanism. Inertial dynami...

The lateral position of the head is controlled by a servo loop. During lateral tape displacement, an error signal is generated and the head is moved by the VCM to avoid track misregistration. However, the bandwidth of the VCM is limited, mainly due to mass and available power. LTM frequencies higher than the bandwidth of the servo actuator, generally referred to as high frequency LTM, cannot be...

This article reviews basic servo systems and development of the fault-tolerant feedback systems for servo systems. Controller receiver circuit design, proper PC-board receiver circuit layout, and the encoder's signal cable and termination are discussed. Additionally, various types of industrial feedback encoders are presented, along with the various types of faults that can develop in a servo f...

This paper describes an expanded system for a servo system design by using the Loop Shaping Design Procedure (LSDP). LSDP is one of the H design procedure. By conducting Loop Shaping with a compensator and robust stabilization to satisfy the index function, we get the feedback controller that makes the control system stable. In this paper, we propose an expanded system for a servo system design...

The article describes the unified approach to the tuning of the analog and digital PI controller with two-degree-of-freedom by the multiple dominant pole method for integrating plants with a time delay on the basis of D-transform. The approach is fully analytical and it enables so tuning that the servo and regulatory responses are non-oscillatory without overshoots. The uses are shown in the ex...