Impulse Control Of Harmonic Drive Motors For High Precision Positioning Applications

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Impulse Control of Harmonic Drive Motors for High Precision Positioning Applications

Author : Yukun Yang
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (11 download)

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Book Synopsis Impulse Control of Harmonic Drive Motors for High Precision Positioning Applications by : Yukun Yang

Download or read book Impulse Control of Harmonic Drive Motors for High Precision Positioning Applications written by Yukun Yang and published by . This book was released on 2004 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Harmonic drive motors are widely used in precision control systems due to several advantages such as zero backlash, high gear ratio, compact size and light weight. However, the combination of friction and flexibility in harmonic drives often limits the performance in positioning applications when using conventional control methods. One problem that often occurs is that the system sticks before the desired position is reached. An alternative and effective solution is to apply a large impulse input for a very short period of time to achieve small motion increments. In this thesis, a new control approach using impulse inputs is developed to improve the resolution of harmonic drive motors. The main objective is to achieve maximum resolution in the presence of high friction levels. A model capable of predicting the impulse response of harmonic drive motors is developed and used to guide the development of an optimal impulse waveform that is robust to parameter variations. The optimal input is then used in the development of an adaptive impulse control method. The performance of the approach is verified with extensive simulations and experiments. Use of the impulse control method demonstrates that the resolution of harmonic drive motors can be increased by more than an order of magnitude. Together, these results provide an effective new approach for control of harmonic drive motors in high precision positioning applications.

Impulse Control of Harmonic Drive Motors for High Precision Positioning Applications

Author : Yu Kun Yang
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (13 download)

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Book Synopsis Impulse Control of Harmonic Drive Motors for High Precision Positioning Applications by : Yu Kun Yang

Download or read book Impulse Control of Harmonic Drive Motors for High Precision Positioning Applications written by Yu Kun Yang and published by . This book was released on 2004 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Adaptive Control of Harmonic Drive Motors with Parameter Varying Friction Using Structurally Dynamic Wavelet Networks

Author : Seyyed Alireza Tadayoni
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (11 download)

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Book Synopsis Adaptive Control of Harmonic Drive Motors with Parameter Varying Friction Using Structurally Dynamic Wavelet Networks by : Seyyed Alireza Tadayoni

Download or read book Adaptive Control of Harmonic Drive Motors with Parameter Varying Friction Using Structurally Dynamic Wavelet Networks written by Seyyed Alireza Tadayoni and published by . This book was released on 2006 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The many advantages of harmonic drives motors such as compactness, high gear ratio, low backlash, light weight, and high torque capacity has resulted in their wide spread usage in precision control applications. However, the nonlinearities of harmonic drives including hysteresis, kinematic error, position dependent friction, and flexibility make it difficult to develop control systems that achieve precise tracking performance. In this thesis, a new approach for adaptive control of harmonic drive motors is developed using a structurally dynamic wavelet neural network to achieve accurate tracking in the presence of parameter varying friction. Furthermore, a new fuzzy logic approach is proposed for dynamic addition and removal of wavelet nodes that achieves accurate tracking using a minimum number of nodes. Experimental verification of the proposed method indicates that it can achieve precise tracking performance with a significantly smaller number of nodes than existing approaches.

Control System Applications

Author : William S. Levine
Publisher : CRC Press
ISBN 13 : 1351829955
Total Pages : 442 pages
Book Rating : 4.3/5 (518 download)

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Book Synopsis Control System Applications by : William S. Levine

Download or read book Control System Applications written by William S. Levine and published by CRC Press. This book was released on 2018-10-24 with total page 442 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control technology permeates every aspect of our lives. We rely on them to perform a wide variety of tasks without giving much thought to the origins of the technology or how it became such an important part of our lives. Control System Applications covers the uses of control systems, both in the common and in the uncommon areas of our lives. From the everyday to the unusual, it's all here. From process control to human-in-the-loop control, this book provides illustrations and examples of how these systems are applied. Each chapter contains an introduction to the application, a section defining terms and references, and a section on further readings that help you understand and use the techniques in your work environment. Highly readable and comprehensive, Control System Applications explores the uses of control systems. It illustrates the diversity of control systems and provides examples of how the theory can be applied to specific practical problems. It contains information about aspec ts of control that are not fully captured by the theory, such as techniques for protecting against controller failure and the role of cost and complexity in specifying controller designs.

Service Robot Applications

Author : Yoshihiko Takahashi
Publisher : BoD – Books on Demand
ISBN 13 : 9537619001
Total Pages : 411 pages
Book Rating : 4.5/5 (376 download)

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Book Synopsis Service Robot Applications by : Yoshihiko Takahashi

Download or read book Service Robot Applications written by Yoshihiko Takahashi and published by BoD – Books on Demand. This book was released on 2008-08-01 with total page 411 pages. Available in PDF, EPUB and Kindle. Book excerpt: The aim of this book is to provide new ideas, original results and practical experiences regarding service robotics. This book provides only a small example of this research activity, but it covers a great deal of what has been done in the field recently. Furthermore, it works as a valuable resource for researchers interested in this field.

Mechatronics and Robotics

Author : Marina Indri
Publisher : CRC Press
ISBN 13 : 1000204464
Total Pages : 266 pages
Book Rating : 4.0/5 (2 download)

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Book Synopsis Mechatronics and Robotics by : Marina Indri

Download or read book Mechatronics and Robotics written by Marina Indri and published by CRC Press. This book was released on 2020-11-24 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: The term “mechatronics” was coined in 1969, merging “mecha” from mechanism and “tronics” from electronics, to reflect the original idea at the basis of this discipline, that is, the integration of electrical and mechanical systems into a single device. The spread of this term, and of mechatronics itself, has been growing in the years, including new aspects and disciplines, like control engineering, computer engineering and communication/information engineering. Nowadays mechatronics has a well-defined and fundamental role, in strict relation with robotics. Drawing a sharp border between mechatronics and robotics is impossible, as they share many technologies and objectives. Advanced robots could be defined as mechatronic devices equipped with a “smart brain”, but there are also up-to-date mechatronic devices, used in tight interaction with humans, that are governed by smart architectures (for example, for safety purposes). Aim of this book is to offer a wide overview of new research trends and challenges for both mechatronics and robotics, through the contribution of researchers from different institutions, providing their view on specific subjects they consider as “hot topics” in both fields, with attention to new fields of application, new challenges to the research communities and new technologies available. The reader of this book will enjoy the various contributions, as they have been prepared with actual applications in mind, along a journey from advanced actuators and sensors to human-robot interaction, through robot control, navigation, planning and programming issues. The book presents several state-of-the-art solutions, like multiple-stage actuation to cope with conflicting specification of large motion-spans, ultra-high accuracy, model-based control for high-tech mechatronic systems, modern approaches of software systems engineering to robotics, aand humanoids for human assistance. The reader can also find new techniques in approaching the design of mechatronic systems in some possible industrial and service robotics scenarios, with a particular attention for the interaction between humans and mechanisms.

Applied Intelligent Control of Induction Motor Drives

Author : Tze Fun Chan
Publisher : John Wiley & Sons
ISBN 13 : 0470828285
Total Pages : 401 pages
Book Rating : 4.4/5 (78 download)

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Book Synopsis Applied Intelligent Control of Induction Motor Drives by : Tze Fun Chan

Download or read book Applied Intelligent Control of Induction Motor Drives written by Tze Fun Chan and published by John Wiley & Sons. This book was released on 2011-01-19 with total page 401 pages. Available in PDF, EPUB and Kindle. Book excerpt: Induction motors are the most important workhorses in industry. They are mostly used as constant-speed drives when fed from a voltage source of fixed frequency. Advent of advanced power electronic converters and powerful digital signal processors, however, has made possible the development of high performance, adjustable speed AC motor drives. This book aims to explore new areas of induction motor control based on artificial intelligence (AI) techniques in order to make the controller less sensitive to parameter changes. Selected AI techniques are applied for different induction motor control strategies. The book presents a practical computer simulation model of the induction motor that could be used for studying various induction motor drive operations. The control strategies explored include expert-system-based acceleration control, hybrid-fuzzy/PI two-stage control, neural-network-based direct self control, and genetic algorithm based extended Kalman filter for rotor speed estimation. There are also chapters on neural-network-based parameter estimation, genetic-algorithm-based optimized random PWM strategy, and experimental investigations. A chapter is provided as a primer for readers to get started with simulation studies on various AI techniques. Presents major artificial intelligence techniques to induction motor drives Uses a practical simulation approach to get interested readers started on drive development Authored by experienced scientists with over 20 years of experience in the field Provides numerous examples and the latest research results Simulation programs available from the book's Companion Website This book will be invaluable to graduate students and research engineers who specialize in electric motor drives, electric vehicles, and electric ship propulsion. Graduate students in intelligent control, applied electric motion, and energy, as well as engineers in industrial electronics, automation, and electrical transportation, will also find this book helpful. Simulation materials available for download at www.wiley.com/go/chanmotor

Advanced Control Systems for Electric Drives

Author : Adel Merabet
Publisher : MDPI
ISBN 13 : 3039436996
Total Pages : 342 pages
Book Rating : 4.0/5 (394 download)

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Book Synopsis Advanced Control Systems for Electric Drives by : Adel Merabet

Download or read book Advanced Control Systems for Electric Drives written by Adel Merabet and published by MDPI. This book was released on 2020-12-07 with total page 342 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides extensive information about advanced control techniques in electric drives. Multiple control and estimation methods are studied for position and speed tracking in different drives. Artificial intelligence tools, such as fuzzy logic and neural networks, are used for specific applications using electric drives.

Thomas Register of American Manufacturers and Thomas Register Catalog File

Author :
Publisher :
ISBN 13 :
Total Pages : 1928 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Thomas Register of American Manufacturers and Thomas Register Catalog File by :

Download or read book Thomas Register of American Manufacturers and Thomas Register Catalog File written by and published by . This book was released on 2002 with total page 1928 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vols. for 1970-71 includes manufacturers' catalogs.

NASA Tech Briefs

Author :
Publisher :
ISBN 13 :
Total Pages : 1148 pages
Book Rating : 4.F/5 ( download)

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Book Synopsis NASA Tech Briefs by :

Download or read book NASA Tech Briefs written by and published by . This book was released on 2005 with total page 1148 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Thomas Register of American Manufacturers

Author :
Publisher :
ISBN 13 :
Total Pages : 2134 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Thomas Register of American Manufacturers by :

Download or read book Thomas Register of American Manufacturers written by and published by . This book was released on 2003 with total page 2134 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vols. for 1970-71 includes manufacturers catalogs.

Advances in Computer Science for Engineering and Education VI

Author : Zhengbing Hu
Publisher : Springer Nature
ISBN 13 : 3031361180
Total Pages : 1166 pages
Book Rating : 4.0/5 (313 download)

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Book Synopsis Advances in Computer Science for Engineering and Education VI by : Zhengbing Hu

Download or read book Advances in Computer Science for Engineering and Education VI written by Zhengbing Hu and published by Springer Nature. This book was released on 2023-08-18 with total page 1166 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains high-quality refereed research papers presented at the 6th International Conference on Computer Science, Engineering, and Education Applications (ICCSEEA2023), which took place in Warsaw, Poland, on March 17–19, 2023, and was organized by the National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute”, the National Aviation University, Lviv Polytechnic National University, the Polish Operational and Systems Society, Warsaw University of Technology, and the International Research Association of Modern Education and Computer Science. The book covers a variety of topics, including cutting-edge research in computer science, artificial intelligence, engineering techniques, smart logistics, and knowledge representation with educational applications. The book is an invaluable resource for academics, graduate students, engineers, management professionals, and undergraduate students who are interested in computer science and its applications in engineering and education.

Fourth Annual Workshop on Space Operations Applications and Research (SOAR '90)

Author :
Publisher :
ISBN 13 :
Total Pages : 516 pages
Book Rating : 4.:/5 (31 download)

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Book Synopsis Fourth Annual Workshop on Space Operations Applications and Research (SOAR '90) by :

Download or read book Fourth Annual Workshop on Space Operations Applications and Research (SOAR '90) written by and published by . This book was released on 1991 with total page 516 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Machine Design

Author :
Publisher :
ISBN 13 :
Total Pages : 922 pages
Book Rating : 4.:/5 (318 download)

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Book Synopsis Machine Design by :

Download or read book Machine Design written by and published by . This book was released on 1999 with total page 922 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Power Transmission Design

Author :
Publisher :
ISBN 13 :
Total Pages : 1822 pages
Book Rating : 4.E/5 ( download)

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Book Synopsis Power Transmission Design by :

Download or read book Power Transmission Design written by and published by . This book was released on 1996 with total page 1822 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Proceedings of the Conference on Drives/Motors/Controls 85, 15th-17th July 1985, London, Olympia 2

Author : P. J. Lawrenson
Publisher :
ISBN 13 :
Total Pages : 206 pages
Book Rating : 4.:/5 (319 download)

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Book Synopsis Proceedings of the Conference on Drives/Motors/Controls 85, 15th-17th July 1985, London, Olympia 2 by : P. J. Lawrenson

Download or read book Proceedings of the Conference on Drives/Motors/Controls 85, 15th-17th July 1985, London, Olympia 2 written by P. J. Lawrenson and published by . This book was released on 1985 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Control Techniques Drives and Controls Handbook

Author : Bill Drury
Publisher : IET
ISBN 13 : 0852967934
Total Pages : 395 pages
Book Rating : 4.8/5 (529 download)

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Book Synopsis Control Techniques Drives and Controls Handbook by : Bill Drury

Download or read book Control Techniques Drives and Controls Handbook written by Bill Drury and published by IET. This book was released on 2001 with total page 395 pages. Available in PDF, EPUB and Kindle. Book excerpt: Annotation A comprehensive guide to the technology underlying drives, motors and control units, this title contains a wealth of technical information for the practising drives and electrical engineer.