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RISSimplified Realization of Zero Phase Error Tracking
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Zero phase error tracking (ZPET) control has gained popularity as a simple yet effective feedforward control method for tracking time varying desired trajectories by the plant output of a continuous time transfer function ...
Optimal Decoupled Disturbance Observers for Dual Input Single Output Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The disturbance observer (DOB) has been a popular robust control approach for servo enhancement in singleinput singleoutput systems. This paper presents a new extension of the DOB idea to dualand multiinput singleoutput ...
Optimized Design of a Soft Actuator Considering Force/Torque, Bendability, and Controllability via an Approximated Structure
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it ...
A Wireless Human Motion Monitoring System for Smart Rehabilitation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a wireless human motion monitoring system is presented for gait analysis and visual feedback in rehabilitation training. The system consists of several inertial sensors and a pair of smart shoes with pressure ...
Statistical Learning Algorithms to Compensate Slow Visual Feedback for Industrial Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Vision guided robots have become an important element in the manufacturing industry. In most current industrial applications, vision guided robots are controlled by a lookthenmove method. This method cannot support many ...
Torque Mode Control of a Cable Driven Actuating System by Sensor Fusion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A cabledriven actuating system is proposed in this paper. The proposed system is attractive for rehabilitation systems because the weight of the actuator is not imposed on the human body. Since the endeffector and the ...
Feedforward Input Generation Based on Neural Network Prediction in Multi Joint Robots1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Learning feedforward control based on the available dynamic/kinematic system model and sensor information is generally effective for reducing the tracking error for a learned trajectory. For new trajectories, however, the ...
Trajectory Planning for Robot Manipulators Considering Kinematic Constraints Using Probabilistic Roadmap Approach
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Trajectory planning is a fundamental problem for industrial robots. It is particularly challenging for robot manipulators that transfer silicon wafers in an equipment front end module (EFEM) of a semiconductor manufacturing ...
Robust Performance Enhancement Using Disturbance Observers for Hysteresis Compensation Based on Generalized Prandtl–Ishlinskii Model
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents an approach employing disturbance observers to enhance the performance of inversebased hysteresis compensation based on the generalized Prandtl–Ishlinskii model in feedback control referencetracking ...
Robust Iterative Learning Control for Vibration Suppression of Industrial Robot Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Vibration suppression is of fundamental importance to the performance of industrial robot manipulators. Cost constraints, however, limit the design options of servo and sensing systems. The resulting low drive-train stiffness ...