Results 111 to 120 of about 6,077 (165)
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Correction of Remanent Disturbance Torque
2006 1st International Symposium on Systems and Control in Aerospace and Astronautics, 2006This paper presents a method to remove effects of remanent disturbance torque. For some small satellites, a considerable magnetic dipole moment still remains after degaussing, thus the remanent torque becomes one of the main disturbance torques that limit their pointing accuracy.
null Lin Huang, null Wuxing Jing
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ADAPTIVE COMPENSATION OF TORQUE DISTURBANCES IN AN INDUSTRIAL ROBOT
IFAC Proceedings Volumes, 2002Abstract A compact model of torque disturbances in the brushless motors of an industrial manipulator is discussed and algorithms are given for the identification of model parameters. Thanks to its compactness, the model allows the implementation of a straightforward and effective technique for disturbance compensation. The compensation is adaptive as
FERRETTI, GIANNI +2 more
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Compensation of motor torque disturbances in industrial robots
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 2002Permanent magnet AC motors generate parasitic torque pulsations, owing to several electromagnetic phenomena. Excitation of the mechanical resonances on the load side is generally the worst consequence of these disturbances. Speed oscillations arise which may dramatically limit the performances in high precision applications.
FERRETTI, GIANNI +2 more
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2021 IEEE/SICE International Symposium on System Integration (SII), 2021
Conventionally, I-P-I-P torsion torque control has been proposed for realizing the load-side acceleration control that is a robust motion control for the flexible joint manipulator. However, conventional torsion torque control is designed as a 4th-order delay system and it is difficult to improve the control bandwidth. For this, reducing control-system-
Yusuke Kawai +4 more
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Conventionally, I-P-I-P torsion torque control has been proposed for realizing the load-side acceleration control that is a robust motion control for the flexible joint manipulator. However, conventional torsion torque control is designed as a 4th-order delay system and it is difficult to improve the control bandwidth. For this, reducing control-system-
Yusuke Kawai +4 more
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Disturbance compensation with a torque controllable steering system
Vehicle System Dynamics, 2006Via a conventional steering system the driver perceives desired and disturbing effects such as road feedback and resonance effects, respectively. They appear with overlapping frequency spectra within the driver's steering torque. This paper introduces a control algorithm that is suppressing periodic disturbances without affecting useful steering road ...
Max Von Groll +3 more
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A joint torque disturbance observer for robotic assembly
Proceedings of 36th Midwest Symposium on Circuits and Systems, 2002This paper describes an approach to achieve good trajectory tracking performance needed in printed circuit board (PCB) assembly by using a joint torque disturbance observer. By observing the difference between the reference torque and the output torque based on a prescribed model, the proposed disturbance observer immediately feeds back the discrepancy
C.Y. Lee, S.P. Chan, D.P. Mital
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2020 IEEE 17th India Council International Conference (INDICON), 2020
In this paper, computed torque control technique is used for the tracking control problem of mobile robotic manipulator subjected to external torque disturbances. The proposed control allows the robot to follow the desired end effector and platform trajectories even in the presence of external torque disturbances.
Shyju Susan Mathew, V.R. Jisha
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In this paper, computed torque control technique is used for the tracking control problem of mobile robotic manipulator subjected to external torque disturbances. The proposed control allows the robot to follow the desired end effector and platform trajectories even in the presence of external torque disturbances.
Shyju Susan Mathew, V.R. Jisha
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Mariner limit cycles and self-disturbance torques
Journal of Spacecraft and Rockets, 1970Mariner attitude control system limit cycle operation during cruise, noting variation from ideal case to single side ...
B. DOBROTIN, E. A. LAUMANN, D. PRELEWICZ
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Torque-angle characteristics of synchronous machines following system disturbances
Electrical Engineering, 1932A method of predetermining the torque-angle characteristic of a synchronous machine following a system disturbance is of importance in calculating the transient stability limit and in evaluating the effect on this limit of additional rotor circuits or of a change in excitation.
S. B. Crary, M. L. Waring
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Kalman Filter-based compensation of disturbance forces and torques for AGVs
2013 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA), 2013Controller design for autonomous 4-wheeled ground vehicles is performed with differential flatness theory. Using a 3-DOF nonlinear model of the vehicle's dynamics and through the application of differential flatness theory an equivalent model in linear canonical (Brunovksy) form is obtained.
Gerasimos Rigatos +2 more
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