相关论文: Identification of Motor Parameters on Coupled Join…
Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is…
Industrial robots are commonly used in various industries due to their flexibility. However, their adoption for machining tasks is minimal because of the low dynamic stiffness characteristic of serial kinematic chains. To overcome this…
Accurately modeling the friction torque in robotic joints has long been challenging due to the request for a robust mathematical description. Traditional model-based approaches are often labor-intensive, requiring extensive experiments and…
A topological interlocking assembly is an arrangement of blocks, where all blocks are kinematically constrained by their neighboring blocks and a fixed frame. This concept has been known for a long time, attracting recent interest due to…
Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…
Track detectors in high energy physics experiments require an accurate determination of a large number of alignment parameters. A general method has been developed, which allows the determination of up to several thousand alignment…
Flexible-joint manipulators are frequently used for increased safety during human-robot collaboration and shared workspace tasks. However, joint flexibility significantly reduces the accuracy of motion, especially at high velocities and…
The use of Hodgkin-Huxley (HH) equations abounds in the literature, but the identifiability of the HH model parameters has not been broadly considered. Identifiability analysis addresses the question of whether it is possible to estimate…
Accurate information of inertial parameters is critical to motion planning and control of space robots. Before the launch, only a rudimentary estimate of the inertial parameters is available from experiments and computer-aided design (CAD)…
In the paper, several concrete examples, as well as their numerical simulations, are given to show that parameter identification based on the so-called adaptive synchronization techniques might be failed if those functions with parameters…
The junction temperature is a very important parameter for monitoring power electronics converters based on MOSFET transistors. They offer the possibility of switching at relatively higher frequencies than other transistors like IGTBTs.…
Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-predictive control, as well as data generation for imitation,…
In-circuit impedance measurement provides useful information for many EMC applications. The inductive coupling approach is a promising in-circuit impedance measurement method due to its non-contact characteristics and simple on-site…
Exoskeletons play a crucial role in assisting patients with varying mobility levels during rehabilitation. However, existing control strategies face challenges such as imprecise trajectory tracking, interaction torque oscillations, and…
Predictive Stator Current Control (PSCC) has been proposed for control of multi-phase drives. The flexibility offered by the use of a Cost Function has been used to deal with the increased number of phases. However, tuning of the Weighting…
The coupled simulations of dynamic interactions between the well, hydraulic fractures and reservoir have significant importance in some areas of petroleum reservoir engineering. Several approaches to the problem of coupling between the…
Tool condition monitoring (TCM) systems can improve productivity and ensure workpiece quality, yet, there is a lack of reliable TCM solutions for small-batch or one-off manufacturing of industrial parts. TCM methods which include the…
This paper presents a systematic and comprehensive analysis of the impact of parameter imbalance in permanent magnet synchronous machines. Analytical models that reveal the effects of imbalance are obtained for each parameter. Thereafter,…
The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint technique that describes the compliance of…
Protection equipment is used to prevent damage to induction motor loads by isolating them from power systems in the event of severe faults. Modeling the response of induction motor loads and their protection is vital for power system…