2P1-D11 Development of Multi-Motor Power Unit Which Consists of 16 DC Motors(Mechanism and Control for Actuator(3))

2012 ◽  
Vol 2012 (0) ◽  
pp. _2P1-D11_1-_2P1-D11_4
Author(s):  
Shuei NISHIMIYA ◽  
Ryuji KANAYA ◽  
Kento MIZUTANI ◽  
Tatuya SHIRAI
Keyword(s):  
Power Unit ◽  
Motor Power ◽  
Dc Motors ◽  
And Control

scholarly journals Modeling and Control Optimization of Denitrifaction System of 600MW Thermal Power Unit

2018 ◽  
Vol 452 ◽  
pp. 032021
Author(s):  
Jingqiu Kang ◽  
Weihua Li ◽  
Zhenyong Yang ◽  
Aiguo Gao ◽  
Lei Liu ◽  
...  
Keyword(s):  
Power Unit ◽  
Thermal Power ◽  
Modeling And Control ◽  
Control Optimization ◽  
And Control

scholarly journals Modeling and Control of a Compliantly Engineered Anthropomimetic Robot in Contact Tasks

2011 ◽  
Author(s):  
Veljko Potkonjak ◽  
Kosta Jovanovic ◽  
Bratislav Svetozarevic ◽  
Owen Holland ◽  
Dusan Mikicic
Keyword(s):  
Mathematical Model ◽  
Nonlinear Control ◽  
Joint Motion ◽  
Biologically Inspired ◽  
Modeling And Control ◽  
Dc Motors ◽  
Mechanical Compliance ◽  
And Control ◽  
Contact Tasks ◽  
Robot Body

This paper attempts to develop a dynamic model and design a controller for a fully anthropomorphic, compliantly driven robot. To imitate muscles, the robot’s joints are actuated by DC motors antagonistically coupled through tendons. To ensure safe interaction with humans in a human-centered environment, the robot exploits passive mechanical compliance, in the form of elastic springs in the tendons. To enable simulation, the paper first derives a mathematical model of the robot’s dynamics, starting from the “Flier” approach. The control of the antagonistic drives is based on a biologically inspired puller-and-follower concept where at any instant the puller is responsible for the joint motion while the follower keeps the inactive tendon from slackening. In designing the controller, it was first necessary to use the advanced theory of nonlinear control for dealing with individual joints, and then to apply the theory of robustness in order to extend control to the multi-jointed robot body.

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