Static balancing and dynamic decoupling of the motion of manipulation robots

Mechatronics ◽  
1993 ◽  
Vol 3 (6) ◽  
pp. 767-782 ◽  
Author(s):  
V.F. Filaretov ◽  
M.K. Vukobratović
Keyword(s):  
Static Balancing ◽  
Dynamic Decoupling ◽  
Manipulation Robots

scholarly journals Relationships between the Rider’s Pelvic Mobility and Balance on a Gymnastic Ball with Equestrian Skills and Effects on Horse Welfare

Animals ◽  
2021 ◽  
Vol 11 (2) ◽  
pp. 453
Author(s):  
Mette Uldahl ◽  
Janne W. Christensen ◽  
Hilary M. Clayton
Keyword(s):  
Heart Rate ◽  
Negative Correlation ◽  
Core Stability ◽  
Static Balancing ◽  
Conflict Behaviors ◽  
Video Recordings ◽  
Highly Correlated ◽  
And Control ◽  
Energetic Performance ◽  
Working Heart

Riders need core stability to follow and guide the horse’s movements and avoid giving unintended or conflicting signals. This study evaluated the rider’s performance of exercises on a gymnastic ball with on-horse performance and indicators of stress in the horse. Twenty experienced riders were scored performing three exercises on a gymnastic ball and for quality and harmony when riding based on evaluation of video recordings in which conflict behaviours were evident. The horse’s heart rate and number of conflict behaviors during the riding test and cortisol levels after completion of the test were measured. The rider’s ability to roll the pelvis from side-to-side on a gymnastic ball was highly correlated with ability to circle the pelvis on the ball and with quality and harmony during riding. However, pelvic roll and riding quality and harmony showed a trend toward a negative correlation with balancing skills on the ball. It appears that the ability to actively move the pelvis is more relevant to equestrian performance than static balancing skill. Horses ridden by riders with better pelvic mobility and control showed significantly fewer conflict behaviors. On the contrary, high scores for balancing on the gymnastic ball were negatively correlated with the horses’ working heart rates, suggesting a less energetic performance. Pelvic control and mobility may be predictive for equestrian skills and riding harmony.

Demonstration of the reduction of decoherent errors in a solid-state qubit using dynamic decoupling techniques

2009 ◽  
Vol 80 (3) ◽  
Author(s):  
S. E. Beavan ◽  
E. Fraval ◽  
M. J. Sellars ◽  
J. J. Longdell
Keyword(s):  
Solid State ◽  
Dynamic Decoupling

Dynamic decoupling and multi-mode magnetic feedback for error field correction in RFX-mod

2011 ◽  
Vol 51 (6) ◽  
pp. 063012 ◽  
Author(s):  
L. Piron ◽  
L. Grando ◽  
G. Marchiori ◽  
L. Marrelli ◽  
P. Piovesan ◽  
...  
Keyword(s):  
Dynamic Decoupling ◽  
Error Field ◽  
Multi Mode

H∞Control for PMLSM Suspension Platform Based on PDFF

2011 ◽  
Vol 383-390 ◽  
pp. 6886-6892
Author(s):  
Jia Kuan Xia ◽  
Yi Na Wang ◽  
Yi Biao Sun
Keyword(s):  
Feedback Linearization ◽  
High Speed ◽  
Normal Force ◽  
Dynamic Stiffness ◽  
Linearization Method ◽  
Dynamic Decoupling ◽  
Fast Tracking ◽  
Speed Controller ◽  
Simulation Results ◽  
Proportional Controller

Permanent magnet linear synchronous motor (PMLSM) suspension system has the merits of no friction, high-speed, high response and so on, using the normal force achieve the mover suspension. The servo performance is affected by the nonlinear coupling between the horizontal trust and vertical normal force, parameters uncertainties and load disturbances. The feedback linearization method is used to achieve the dynamic decoupling of the PMLSM suspicion system and decoupling it Into two linear subsystems; to solve the conflict between disturbance restraint and fast tracking performance, increase the robustness and dynamic stiffness for system, H∞ speed controller based on PDFF and position proportional controller are designed. Simulation results show that the proposed control strategy guarantees the high speed and high precision positioning performance for horizontal axis; the good rigidity and stability for normal suspension length and the strong robustness against load disturbances and parameters variations for the two axes.

scholarly journals Total Static Balancing and Kinetostatics of the 3R Base Cinematic Chain

2018 ◽  
Vol 2 (1) ◽  
pp. 1-13
Author(s):  
Relly Victoria Petrescu ◽  
Raffaella Aversa ◽  
Antonio Apicella ◽  
Florian Ion Tiberiu Petrescu
Keyword(s):  
Static Balancing
Sign in / Sign up

Export Citation Format

Share Document