Results 271 to 280 of about 8,788 (300)
Some of the next articles are maybe not open access.
Analysis of estimation error of observer for disturbance torque and velocity
Electrical Engineering in Japan, 1994AbstractThis paper analyzes some features of estimation error of the observer which estimates disturbance torque and velocity. This observer inputs the information of driving torque and current position, and outputs the information of disturbance torque and velocity.Although this observer is a practical tool to compose a robust control system, there ...
openaire +1 more source
Switching Position-Torque Control for Series Elastic Actuators with Disturbance Observer
IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, 2019This paper proposes a novel switch control for the series elastic actuator (SEA). This switch control provides more robust position control along with better impulse dissipation performance. SEA is an actuator technology commonly used in robotic applications that require safe and precise interaction control.
Minjae Jo, Hyunwook Lee, Sehoon Oh
openaire +1 more source
Real-time path tracking with torque limits by using a disturbance observer
Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 2002When the minimum-time trajectory of a manipulator along a geometrically prescribed path is planned, considering the manipulator's dynamics and actuators' torque limits, at least one of the joints is at the torque limit. The execution of such a trajectory by a conventional feedback scheme results in torque saturation.
Hirohiko Arai, Kazuo Tanie
openaire +1 more source
Studies in Postural Control Systems Part I: Torque Disturbance Input
IEEE Transactions on Systems Science and Cybernetics, 1970The postural control system in normal humans is studied by applying a mechanical torque disturbance to the system. It is shown that the response of the system can be approximated by a second-order differential equation where the parameters depend on the state of the system.
Gyab C. Agarwal +2 more
openaire +1 more source
Nonlinear disturbance observer based torque control for series elastic actuator
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016This paper presents a practical control approach for series elastic actuators(SEAs) to generate the desired torque. Specifically, the controller is applicable to both linear and nonlinear SEAs and it works well even in the presence of unknown payload parameters and external disturbances. Via the analysis and transformation of the SEA dynamics, a lumped
Meng Wang 0008 +4 more
openaire +1 more source
Drive induced torque disturbances in brushless rate servos
Conference Record of the 1990 IEEE Industry Applications Society Annual Meeting, 2002The torque disturbances caused by imperfections in a permanent magnet brushless sinusoidal motor and sinusoidal power amplifier are discussed, and the major sources of disturbances are quantified. Brushless rate servos are shown to contain many new sources of torque disturbances, in addition to the disturbances produced by brush type rate servos.
openaire +1 more source
Transient damping torques in synchronous machines during disturbances
Proceedings of the Institution of Electrical Engineers, 1969During power-system disturbances, the relative speed between the resultant flux and the rotor causes eddy currents to be induced in the rotor iron structure and an induction-motor or induction-generator torque to be developed owing to the amortisseur winding; both these effects damp out the synchronousmachine oscillations.
openaire +1 more source
Disturbance torques generated by the stationary plasma thruster
29th Joint Propulsion Conference and Exhibit, 1993K. KOZUBSKIJ, V. ZHURIN, J. HIGHAM
openaire +1 more source