A two-degrees-of-freedom current control scheme for deadtime compensation

2000 ◽  
Vol 47 (3) ◽  
pp. 557-564 ◽  
Author(s):  
Nambo Hur ◽  
Kwanghee Nam ◽  
Sangchul Won
Keyword(s):  
Degrees Of Freedom ◽  
Current Control ◽  
Two Degrees Of Freedom ◽  
Control Scheme ◽  
Deadtime Compensation

A Light Weight Compliant Hand Mechanism With High Degrees of Freedom

2005 ◽  
Vol 127 (6) ◽  
pp. 934-945 ◽  
Author(s):  
Jason Potratz ◽  
Jingzhou Yang ◽  
Karim Abdel-Malek ◽  
Esteban Peña Pitarch ◽  
Nicole Grosland
Keyword(s):  
Degrees Of Freedom ◽  
Static Load ◽  
Current Control ◽  
Deformation Analysis ◽  
Dimensional Model ◽  
3 Dimensional ◽  
Wrist Flexor ◽  
Compression Spring ◽  
Extensor Muscles ◽  
Control Scheme

This paper presents the design and prototyping of an inherently compliant lightweight hand mechanism. The hand mechanism itself has 15 degrees of freedom and five fingers. Although the degrees of freedom in each finger are coupled, reducing the number of independent degrees of freedom to 5, the 15 degrees of freedom of the hand could potentially be individually actuated. Each joint consists of a novel flexing mechanism that is based on the loading of a compression spring in the axial and transverse direction via a cable and conduit system. Currently, a bench top version of the prototype is being developed; the three joints of each finger are coupled together to simplify the control system. The current control scheme under investigation simulates a control scheme where myoelectric signals in the wrist flexor and extensor muscles are converted in to x and y coordinates on a control scheme chart. Static load-deformation analysis of finger segments is studied based on a 3-dimensional model without taking the stiffener into account, and the experiment validates the simulation.

The scientific bases of autocontrol with vibration phase for a resonance beating-vibration system with two degrees of freedom driven by debalances

1996 ◽  
Vol 18 (2) ◽  
pp. 43-48
Author(s):  
Tran Van Tuan ◽  
Do Sanh ◽  
Luu Duc Thach
Keyword(s):  
Degrees Of Freedom ◽  
Regulation System ◽  
Vibration System ◽  
Two Degrees Of Freedom ◽  
System Operating

In the paper it is introduced a method for studying dynamics of beating-vibrators by means of digital calculation with the help of the machine in accordance with the needs by the helps of an available auto regulation system operating with high reability.

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