Controller Design of Indirect Force Control System with Velocity-Saturating Closed Loop Ultrasonic Motor Velocity Control System in Inner Loop

2018 ◽  
Author(s):  
Toshiya Nakamura ◽  
Daisuke Yashiro ◽  
Kazuhiro Yubai ◽  
Satoshi Komada
Keyword(s):  
Control System ◽  
Force Control ◽  
Closed Loop ◽  
Controller Design ◽  
Ultrasonic Motor ◽  
Velocity Control ◽  
Force Control System ◽  
Motor Velocity

Design of force control system using tendon-driven mechanism including linear springs and ultrasonic motor

2018 ◽  
Vol 205 (1) ◽  
pp. 36-45 ◽  
Author(s):  
Daiki Yonemoto ◽  
Daisuke Yashiro ◽  
Kazuhiro Yubai ◽  
Satoshi Komada
Keyword(s):  
Control System ◽  
Force Control ◽  
Ultrasonic Motor ◽  
Force Control System

Robotic force control for deburring using an active end effector

Robotica ◽  
1989 ◽  
Vol 7 (4) ◽  
pp. 303-308 ◽  
Author(s):  
G. M. Bone ◽  
M. A. Elbestawi
Keyword(s):  
Control System ◽  
Force Control ◽  
Pid Controller ◽  
Closed Loop ◽  
Least Squares Method ◽  
Closed Loop Control ◽  
End Effector ◽  
Loop Control ◽  
Positioning Errors ◽  
Force Control System

SUMMARYAn active force control system for robotic deburring based on an active end effector is developed. The system utilizes a PUMA-560 six axis robot. The robot's structural dynamics, positioning errors, and the deburring cutting process are examined in detail. Based on ARMAX plant models identified using the least squares method, a discrete PID controller is designed and tested in real-time. The control system is shown to maintain the force within l N of the reference, and reduce chamfer depth errors to 0.12 mm from the 1 mm possible without closed-loop control.

Design of Force Control System Using Tendon-driven Mechanism Including Linear Springs and Ultrasonic Motor

2018 ◽  
Vol 138 (4) ◽  
pp. 298-305
Author(s):  
Daiki Yonemoto ◽  
Daisuke Yashiro ◽  
Kazuhiro Yubai ◽  
Satoshi Komada
Keyword(s):  
Control System ◽  
Force Control ◽  
Ultrasonic Motor ◽  
Force Control System

Controller Design for a Multichannel Electrohydraulic System

1989 ◽  
Vol 111 (2) ◽  
pp. 299-306 ◽  
Author(s):  
A. S. Pannala ◽  
P. Dransfield ◽  
M. Palaniswami ◽  
J. H. Anderson
Keyword(s):  
Control System ◽  
Experimental Evidence ◽  
Force Control ◽  
Controller Design ◽  
Variable Frequency ◽  
Control Applications ◽  
Electrohydraulic System ◽  
System A ◽  
Computer Aided ◽  
Force Control System

In multi-actuator powered control applications, load coupling can cause severe interactions between the actuators. It is possible to reduce such interactions by incorporating suitable controller actions. The paper concerns a two-actuator electrohydraulic force-control system. A computer-aided procedure involving multi-variable frequency response techniques to help design controller action is presented. Experimental evidence which confirms the effectiveness of simple controllers arrived at by this approach is presented.

Effect of Inner and Outer Wheels Driving Force Control on Small Electric Vehicle

2020 ◽  
Vol 17 (4) ◽  
pp. 8246-8254
Author(s):  
K. Shibazaki ◽  
H. Nozaki
Keyword(s):  
Control System ◽  
Angular Velocity ◽  
Electric Vehicle ◽  
Force Constant ◽  
Force Control ◽  
Driving Force ◽  
Vehicle Control ◽  
Steering Angle ◽  
Force Control System ◽  
The Difference

In this study, in order to improve steering stability during turning, we devised an inner and outer wheel driving force control system that is based on the steering angle and steering angular velocity, and verified its effectiveness via running tests. In the driving force control system based on steering angle, the inner wheel driving force is weakened in proportion to the steering angle during a turn, and the difference in driving force is applied to the inner and outer wheels by strengthening the outer wheel driving force. In the driving force control (based on steering angular velocity), the value obtained by multiplying the driving force constant and the steering angular velocity,  that differentiates the driver steering input during turning output as the driving force of the inner and outer wheels. By controlling the driving force of the inner and outer wheels, it reduces the maximum steering angle by 40 deg and it became possible to improve the cornering marginal performance and improve the steering stability at the J-turn. In the pylon slalom it reduces the maximum steering angle by 45 deg and it became possible to improve the responsiveness of the vehicle. Control by steering angle is effective during steady turning, while control by steering angular velocity is effective during sharp turning. The inner and outer wheel driving force control are expected to further improve steering stability.

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