Shock and Vibration, 2021 This paper aims to eliminate nonlinear friction from the performance of the digital hydraulic cylinder to enable it to have good adaptive ability.
Shouling Jiang +5 more
doaj +2 more sources
Adaptive block compensation trajectory tracking control based on LuGre friction model
International Journal of Advanced Robotic Systems, 2019 Aiming at the problems of modeling error and uncertain external disturbance in the multi-joint robot control model, an adaptive block compensation trajectory tracking controller based on LuGre friction model is proposed.
Zhimin Wu
doaj +2 more sources
Aerospace, 2022 A dynamic load simulator, which can reproduce on-ground aerodynamic hinge moment of control surface, is an essential rig for the performance and stability test of an aircraft actuation system.
Wensen Zhang +4 more
doaj +2 more sources
A Control Method Based on a Simple Dynamic Optimizer: An Application to Micromachines with Friction [PDF]
Micromachines, 2023 In Micromachines, like any mechanical system, friction compensation is an important topic for control design application. In real applications, a nonlinear control scheme has proven to be an efficient method to mitigate the effects of friction. Therefore,
Leonardo Acho
doaj +2 more sources
Motion control and singular perturbation algorithms for lower limb rehabilitation robots [PDF]
Frontiers in NeuroroboticsTo better assist patients with lower limb injuries in their rehabilitation training, this paper focuses on motion control and singular perturbation algorithms and their practical applications.
Yanchun Xie +5 more
doaj +2 more sources
Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism [PDF]
Sensors, 2021 This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments.
Youqiang Zhang +3 more
doaj +2 more sources
A Review of Mechanical Degradation, Interfacial Nonlinear Dynamics and Multi-Bolt Coupling Degradation Mechanisms of Flange-Bolted Joints [PDF]
SensorsBolted flange joints are critical load-bearing connection components of complex mechanical equipment, whose service performance is dominated by the coupled evolution of bolt preload relaxation and interfacial stiffness degradation under long-term cyclic ...
Xiaofei Feng +8 more
doaj +2 more sources
Disturbance Recognition and Collision Detection of Manipulator Based on Momentum Observer [PDF]
Sensors, 2020 Increasing requirements for the safety of human-robot interaction and the cost-effectiveness of collision detection rapidly promote the development of collision detection technology without torque sensors.
Xiaojun Zhang +3 more
doaj +2 more sources
LuGre friction model for a magnetorheological damper
Structural Control and Health Monitoring, 2005 This paper presents a new mathematical model to describe the dynamic behavior of a magnetorheological damper. The proposed model is based on a modification to the well‐known LuGre friction model; it is simpler than other models already suggested in the ...
R. Jimenez, L. Alvarez-Icaza
semanticscholar +3 more sources
An improved LuGre model for calculating static steering torque of rubber tracked chassis
Defence Technology, 2022 Tire and rubber track interchangeable chassis combines the advantages of tire and rubber track, which can greatly improve the maneuverability of military construction machinery.
Kang Liang +6 more
doaj +1 more source