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RISForce Balancing of Robotic Mechanisms Based on Adjustment of Kinematic Parameters
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Force balancing is a very important issue in mechanism design and has only recently been introduced to the design of robotic mechanisms. In this paper, a force balancing method called adjusting ...
Iterative Learning Control With Switching Gain Feedback for Nonlinear Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Iterative learning control (ILC) is a simple and effective technique of tracking control aiming at improving system tracking performance from trial to trial in a repetitive mode. In this paper, ...
A New Compliant Mechanical Amplifier Based on a Symmetric Five-Bar Topology
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A mechanical amplifier is an important device, which together with a piezoelectric actuator can achieve motion with high resolution and long range. In this paper, a new topology based on a ...
Integrated Design and PD Control of High-Speed Closed-loop Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The performance of an electromechanical system not only depends on its controller design, but also on the design of its mechanical structure. In order to achieve the excellent performance of ...