• Title/Summary/Keyword: sliding joint

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Experimental Study of Adaptive Sliding Mode Control for Vibration of a Flexible Rectangular Plate

  • Yang, Jingyu;Liu, Zhiqi;Cui, Xuanming;Qu, Shiying;Wang, Chu;Lanwei, Zhou;Chen, Guoping
    • International Journal of Aeronautical and Space Sciences
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    • v.16 no.1
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    • pp.28-40
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    • 2015
  • This paper aims to address the intelligent active vibration control problem of a flexible rectangular plate vibration involving parameter variation and external disturbance. An adaptive sliding mode (ASM) MIMO control strategy and smart piezoelectric materials are proposed as a solution, where the controller design can deal with problems of an external disturbance and parametric uncertainty in system. Compared with the current 'classical' control design, the proposed ASM MIMO control strategy design has two advantages. First, unlike existing classical control algorithms, where only low intelligence of the vibration control system is achieved, this paper shows that high intelligent of the vibration control system can be realized by the ASM MIMO control strategy and smart piezoelectric materials. Second, the system performance is improved due to two additional terms obtained in the active vibration control system. Detailed design principle and rigorous stability analysis are provided. Finally, experiments and simulations were used to verify the effectiveness of the proposed strategy using a hardware prototype based on NI instruments, a MATLAB/SIMULINK platform, and smart piezoelectric materials.

Tribology for All-Ceramic Joint Prostheses

  • Ikeuchi, K.;Kusaka, J.;Yoshida, H.
    • Proceedings of the Korea Association of Crystal Growth Conference
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    • 2000.06a
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    • pp.165-177
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    • 2000
  • Ceramic on ceramic total hip prostheses are developed to apply to young patients because lifetime of polyethylene joint prostheses is limited by loosening due to biological response. As mating faces of all-ceramic joint must be highly conformed to reduce stress concentration, wear properties of flat surfaces are investigated in this study. Through wear tests at 2 MPa of contact pressure and 36 mm/s of sliding velocity, alumina and silicon carbide keep low wear rate, high hardness and smooth surface. Soft surface film was detected after the test in bovine serum. This suggests that boundary lubrication is effective to reduce wear in all-ceramic joint.

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Model-based sliding mode tracking control of 6-6 Stewart platform manipulator

  • Lee, Chong-Won;Kim, Nag-In
    • 제어로봇시스템학회:학술대회논문집
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    • 1997.10a
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    • pp.772-775
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    • 1997
  • A high speed tracking control for 6-6 Stewart platform manipulator is performed by employing the joint-axis sliding mode control based on dynamics. Because of the complex dynamics and kinematics of Stewart platform manipulator, two computer systems, consisting of a PC and a DSP, are adopted, so that real time tasks are run in synchronous and asynchronous modes. It is experimentally proven that the proposed control system leads to an easy to implement and effective control task, and it can achieve the high performance tracking control under the high speed and severe payload condition.

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Design and Control of a Firefight Cannon Manipulator Applying Sliding Mode Control

  • Vu, Mai The;Choi, Hyeung-Sik;Kang, Hyeon-Seung;Bae, Jae-Hyeon;Joo, Moon-G.;Joo, Yeong-do
    • Journal of Advanced Marine Engineering and Technology
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    • v.39 no.5
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    • pp.554-562
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    • 2015
  • This paper describes an analysis of an architecture and control system of a firefighting cannon manipulator (FCM) composed of two joint axes and one water-shooting actuator. Because the orienting FCM motion is disturbed by the reaction force from water shooting, the water shooting force has been modeled for robust control. The dynamics model of the manipulator has been set up including the external force of water-shooting reaction on the manipulator. A PD Controller and Sliding Mode Controller have been designed and their performance been tested through simulation to track a desired trajectory under the disturbance of a water-shooting reaction. The simulation shows that the performance of the Sliding Mode Controller is better than that of the PD controller.

Fuzzy sliding-mode control of a human arm in the sagittal plane with optimal trajectory

  • Ardakani, Fateme Fotouhi;Vatankhah, Ramin;Sharifi, Mojtaba
    • ETRI Journal
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    • v.40 no.5
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    • pp.653-663
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    • 2018
  • Patients with spinal cord injuries cannot move their limbs using their intact muscles. A suitable controller can be used to move their arms by employing the functional electrical stimulation method. In this article, a fuzzy exponential sliding-mode controller is designed to move a musculoskeletal human arm model to track an optimal trajectory in the sagittal plane. This optimal arm trajectory is obtained by developing a policy for the central nervous system. In order to specify the optimal trajectory between two points, two dynamic and static optimal criteria are applied simultaneously. The first dynamic objective function is defined to minimize the joint torques, and the second static optimization is offered to minimize the muscle forces at each moment. In addition, fuzzy logic is used to tune the sliding-surface parameter to enable an appropriate tracking performance. Simulation results are evaluated and compared with experimental data for upward and downward movements of the human arm.

Design on the Controller of Flexible Robot using Sliding Sector Control (슬라이딩 섹터 제어를 이용한 유연한 로봇 팔에 대한 제어기 설계)

  • Han, Jong-Kil;Bae, Sung-Hwan;Yang, Keun-Ho
    • The Journal of the Korea institute of electronic communication sciences
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    • v.5 no.5
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    • pp.541-546
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    • 2010
  • When a flexible arm is rotated by a motor about an joint axis, transverse vibration may occur. The motor torque should be controlled in such a way that the moter rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested at the end of rotation. In this paper, the dynamic model of flexible robot arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Nonlinear control with hysteresis deadzone using the sliding sector theory with continued input function in the sector is proposed.

Wide Speed Direct Torque and Flux Controlled IPM Synchronous Motor Drive Using a Combined Adaptive Sliding Mode Observer and HF Signal Injection

  • Foo, Gilbert;Rahman, M.F.
    • Journal of Power Electronics
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    • v.9 no.4
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    • pp.582-592
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    • 2009
  • This paper proposes a new speed sensorless direct torque and flux controlled interior permanent magnet synchronous motor (IPMSM) drive. Closed-loop control of both the torque and stator flux linkage are achieved by using two proportional-integral (PI) controllers. The reference voltage vectors are generated by a SVM unit. The drive uses an adaptive sliding mode observer for joint stator flux and rotor speed estimation. Global asymptotic stability of the observer is achieved via Lyapunov analysis. At low speeds, the observer is combined with the high frequency signal injection technique for stable operation down to standstill. Hence, the sensorless drive is capable of exhibiting high dynamic and steady-state performances over a wide speed range. The operating range of the direct torque and flux controlled (DTFC) drive is extended into the high speed region by incorporating field weakening. Experimental results confirm the effectiveness of the proposed method.

Development of Process of A Force Sensorless Interference fit Assembly Robot System using Sliding Perturbation Observer (슬라이딩 섭동관측기를 이용한 힘 센서리스 억지끼워맞춤 조립로봇시스템 공정개발)

  • Byun, Gyu Ho;Moon, Young Geun;Yoon, Sung Min;Lee, Min-Cheol
    • Journal of the Korean Society for Precision Engineering
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    • v.31 no.3
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    • pp.243-251
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    • 2014
  • In inference fit assembly process of the industrial robot, it basically needs the force data. One of the typical methods to get the force data is attaching torque sensors on the robot arm joint or end effector. This is effective way to reduce time delay and to improve preciseness of force control, but this method has several problems. To solve that problem, this paper suggests method which measures assembly force without torque sensor by using the sliding perturbation observer(SPO) and assembly process based on SPO to assemble successfully in inference assembly

A Robust Adaptive Friction Control of Robot Manipulators using Sliding Surface (슬라이딩 표면을 이용한 로봇 매니퓰레이터의 강건한 적응 마찰 제어)

  • Bae, Jun-Kyung
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.60 no.11
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    • pp.2139-2146
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    • 2011
  • In this paper, a robust adaptive controller is proposed for trajectory tracking of robot manipulators with the unknown friction coefficient and bounded disturbance. A new adaptive control law is developed based on sliding mode and derived from the Lyapunov stability analysis. The introduction of a boundary layer solves the problem of chattering. The proposed adaptive controller is globally asymptotically stable and guarantees zero steady state error for joint positions. The estimated friction coefficients can also approach the actual coefficients asymptotically. A simulation example is provided to demonstrate the performance of the proposed algorithm.

Robust control of flexible joint manipulators

  • Park, Kang-Bark;Lee, Ju-Jang
    • 제어로봇시스템학회:학술대회논문집
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    • 1992.10b
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    • pp.618-623
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    • 1992
  • In this paper robotic manipulators in which the joints exhibit a certain amount of elasticity are considered. Based on a feedback linearized model, sliding mode control system is designed. In the control system design, weak joint stiffness assumption does not needed. Simulation results are presented to verify the validity of the control scheme. A robustness analysis for a feedback linearized model is also given with respect to uncertainties on the robot parameters.

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