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An experimental study of the sensorized strain wave gear RT1-T and its capabilities for torque control in robotic joints [PDF]
Frontiers in Robotics and AIThe idea of sensorizing a strain wave gear to measure the transmitted torque has been reported since the 1980s. The strain in the elastic flex spline is typically measured by strain gages attached to it.
Robert Schuller +10 more
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Optimization of Torque-Control Model for Quasi-Direct-Drive Knee Exoskeleton Robots Based on Regression Forecasting [PDF]
SensorsThe choice of torque curve in lower-limb enhanced exoskeleton robots is a key problem in the control of lower-limb exoskeleton robots. As a human–machine coupled system, mapping from sensor data to joint torque is complex and non-linear, making it ...
Yuxuan Xia +3 more
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Energies, 2022 A permanent magnet synchronous motor (PMSM) plays an important role in the operation performance of an electric vehicle. In order to increase the speed stability of PMSMs, an improved sliding mode control (SMC) method is proposed in this paper.
Yuhao Wei, Li Sun, Zhongxian Chen
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Machines, 2022 Model-based force control for motion and force tracking faces significant challenges on real quadruped platforms due to the apparent model inaccuracies.
Yapeng Shi +7 more
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Benchmarking Whole‐Body Controllers on the TALOS Humanoid Robot
Frontiers in Robotics and AI, 2022 This article presents a comparison of three control schemes applied on the commercially available TALOS humanoid robot. The aim is to highlight the advantages and drawbacks of each model applied on three locomotion problems: walking on flat and non-flat ...
N. Ramuzat +3 more
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Energies, 2023 The hybridization of multiple energy sources is crucial for electric vehicles to deliver the same performance as modern fossil fuel-based automobiles. This paper presents a torque and speed control strategy for an electric vehicle DC traction motor by ...
Achikkulath Prasanthi +4 more
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Analysis of the Saliency Ratio Effect on the Output Torque and the System Efficiency in IPM Drives
Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi, 2021 Permanent magnet synchronous motors (PMSM) can be classified into two groups based on the rotor saliency structure as surface mounted permanent magnet synchronous motors (SPM) and interior mounted permanent magnet synchronous motors (IPM). Saliency ratio
Mikail Koç, Osman Emre Özçiflikçi
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Frontiers in Energy Research, 2023 The Technical University of Denmark (DTU) 10 MW wind turbine is selected as the object of this study. The braceless semi-submersible platform for the National Renewable Energy Laboratory 5 MW wind turbine is upscaled to support the DTU 10 MW wind turbine.
Yu Li +10 more
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Sensorless Torque/Force Control [PDF]
, 2011 Motion control systems represent a main subsystem for majority of processing systems that can be found in the industrial sector. These systems are concerned with the actuation of all devices in the manufacturing process such as machines, robots, conveyor systems and pick and place mechanisms such that they satisfy certain motion requirements, e.g., the
Khalil, Islam Shoukry Mohammed +1 more
openaire +3 more sources
Optimal control of torque ripple for direct torque control system of mine hoist
Gong-kuang zidonghua, 2014 In view of problem of large torque ripple existed in low speed range of direct torque control system of mine hoist, an optimal control method of torque ripple for mine hoist was proposed.
WANG Zhen, CHEN Zhaolei, CAO Xiaodong
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