The model-free learning enhanced motion control of DC motor

A Mitsubishi Movemaster RV-M2 robotic system control system is retrofitted into system-on-programmable-chip (SOPC) control structure. The software embedded in Altera Nios II field programmable gate array (FPGA) micro processor has the functions of using UART to communicate with PC, robotic inverse kinematics calculation, and robotic motion control. The digital hardware circuits with encoder decoding, limit switch detecting, pulse width modulation (PWM) generating functions are designed by using Verilog language. Since the robotic dynamics has complicate nonlinear behavior, it is impossible to design a MIMO model-based controller on micro-processor. Here a novel model-free fuzzy sliding mode control with gain scheduling strategy is developed to design the robotic joint controller. This fuzzy controller is easy to implement with 1D fuzzy control rule and less trial-and-error parameters searching work. The experimental results show that this intelligent controller can achieve quick transient response and precise steady state accuracy for industrial applications.

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On the compensation of incremental encoder imperfections for motion control: a DC motor case-study

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2018.07.350 ◽

2018 ◽

Vol 51 (13) ◽

pp. 627-632

Author(s):

Missie Aguado-Rojas ◽

William Pasillas-Lépine ◽

Antonio Loría ◽

Alexandre De Bernardinis

Keyword(s):

Motion Control ◽

Dc Motor ◽

Incremental Encoder

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The Motion Control of Clothes Model Robot and Measurement of Clothes Energy Consumption

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.301-303.153 ◽

2011 ◽

Vol 301-303 ◽

pp. 153-157

Author(s):

Xiu Wu Sui ◽

Xiao Guang Qi ◽

Han Wang Zhao ◽

Da Peng Li ◽

Ya Ming Jiang

Keyword(s):

Energy Consumption ◽

Motion Control ◽

Measurement System ◽

Evaluation System ◽

Rotation Speed ◽

Dc Motor ◽

Worm Wheel ◽

Robot Technology ◽

Power And Energy

This paper designs a measurement system of energy consumption for clothes model controlled by robot technology, the system uses DC motor regulated by PWM regulator to drive the worm wheel reducer and the sinusoidal mechanism, then to drive the robot legs to swing forward and backward in sinusoidal step. The sensors detect the rotation speed and torque of the sinusoidal mechanism, the power and energy consumption. The experiments show the system is high in accuracy, excellent in repetition, and suitable for the further research on the principle and evaluation system of the clothes energy consumption.

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Experiments on Motion Control of Two-Joint Articulated Hopping Robot with Stopper Mechanisms

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2005.p0089 ◽

2005 ◽

Vol 17 (1) ◽

pp. 89-100

Author(s):

Gustavo Kato ◽

◽

Hiroyuki Kojima ◽

Mamoru Yoshida ◽

Yusuke Wakabayashi ◽

...

Keyword(s):

Angular Momentum ◽

Control System ◽

Motion Control ◽

Dc Motor ◽

Rotational Dynamics ◽

Control Voltage ◽

Dc Motors ◽

Hopping Robot ◽

New Type ◽

Motion Performance

In this report, a new-type two-joint articulated hopping robot with two stopper mechanisms is developed. The two rotary joints are actuated by two DC motors with reduction gears. In this new-type two-joint articulated hopping robot with two stopper mechanisms, the hopping motion actions are achieved by the two joint rotational dynamics and the two stopper mechanisms. Using the two stopper mechanisms, the angular momentums and momentums of the two links are transformed into the hopping motion action according to the law of conservation of angular momentum and momentum. Then, the hopping motion control system is constructed to fit the DC motor characteristics, and the effects of the stopper settings and the delay time of the control voltage of the DC motor on the hopping motion performance are experimentally investigated. Furthermore, the examples of the hopping motion control experiments are demonstrated, and it is confirmed that the forwards and backwards hopping motion actions can be successfully performed.

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