• Title/Summary/Keyword: Precision Position Control

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Position and Vibration Control of a Spatial Redundant Flexible Manipulator by using Pseudo-inverse of Jacobian (유사 역행렬을 이용한 여유자유도 3차원 유연 매니퓰레이터의 위치 및 진동제어)

  • Kim, Jin-Su
    • Journal of the Korean Society for Precision Engineering
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    • v.18 no.12
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    • pp.66-72
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    • 2001
  • In this paper, by using pseudo-inverse matrix of the spatial redundant flexible manipulators, a position control method and its effect in vibration suppression was presented. Vibration suppression control was developed using lumped mass spring model of the flexible manipulators. With 2 elastic links and 7 rotory joint manipulator ADAM, (1)position control for no redundancy, and (2)position control for one redundant DOF(degree of freedom) were tested. The objective of this experiment is to show the effect of position control, using pseudo-inverse matrix. toward the improvement of operation, and at the same time, to reduce the vibration of the link and the magnitude of the joint torque.

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Robust Adaptive Precision Position Control of PMSM

  • Ko Jong-Sun;Ko Sung-Hwan;Kim Yung-Chan
    • Journal of Power Electronics
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    • v.6 no.4
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    • pp.347-355
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    • 2006
  • A new control method for precision robust position control of a permanent magnet synchronous motor (PMSM) is presented. In direct drive motor systems, a load torque disturbance directly affects the motor shaft. The application of the load torque observer is published in using a fixed gain to solve this problem. However, the motor flux linkage cannot be determined precisely for a load torque observer. Therefore, an asymptotically stable adaptive observer base on a deadbeat observer is considered to overcome the problems of unknown parameters, torque disturbance and a small chattering effect. To find the critical parameters the system stability analysis is carried out using the Liapunov stability theorem.

Precision position control of induction motors using DSP6416 (DSP6416을 이용한 유도기의 정밀 위치 제어)

  • Kim, Hyun-Sik;Kim, Young-Chan;Ko, Jong-Sun
    • The Transactions of the Korean Institute of Power Electronics
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    • v.12 no.1
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    • pp.19-26
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    • 2007
  • This paper presents a precision position control of induction motor using disturbance observer to reduce disturbance effects. It shows that proposed algorithm is strong in induction motor precision control for disturbance change. This system with disturbance observer using deadbeat control, which has high benefit, is good for quick disturbance compensation. To show this effectiveness the whole process is simulated by simulink, and also experimented by DSP6416 with TCP-IP network board.

A Study of Adaptive Load Torque Observer and Robust Precision Position Control of BLDD Motor (직접 구동용 BLDC 전동기의 정밀 Robust 위치제어 및 적응형 외란 관측기 연구)

  • 고종선;윤성구
    • The Transactions of the Korean Institute of Power Electronics
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    • v.4 no.2
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    • pp.138-143
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    • 1999
  • A new control method for the precision robust position control of a brushless DC(BLDC) motor for direct drive m motor(BLDDM) system using the asymptotically stable adaptive load torque observer is presented. A precision position c control is obtained for the BLDD motor system appro성mately linearized using the fieldlongrightarroworientation method. Many of t these motor systems have BLDD motor to obtain no backlashes. On the other hand, it has disadvantages such as the h high cost and more complex controller caused by the nonlinear characteristics. And the load torque disturbance is d directly affected to a motor shaft. To r밍ect this problem, stability analysis is calTied out using Lyapunov stability t theorem. Using this results, the stability is proved and load disturbance detected by the asymptotically stable adaptive observer is compensated by feedforwarding the equivalent CUlTent having the fast response.

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High precision position synchronous control in a multi-axes driving system (II) (다축 구동 시스템의 정밀 위치동기 제어(II))

  • 양주호;변정환;김영복;정석권
    • Journal of the Korean Society for Precision Engineering
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    • v.14 no.3
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    • pp.98-106
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    • 1997
  • In this paper, a new method of position synchronizing control is proposed for multi-axes driving system. The proposed position synchronizing control system is constituted with speed and synchronizing controller. The speed controller is aimed at the following to speed reference. Furthermore, it is designed to guarantee low sensitivity under some disturbance as well as robustness against model uncertainties using $H_{\infty}$technique. The synchronizing controller is designed to keep minimizing the position error using PID control law which is considered to reduce the dimension of transfer function in the control system. Especially, the proposed method can be easily conducted by controlling only slave axis speed, because it, has variable structure which is decided to master and slave axis by the sign of synchronizing error. Therfore, the master axis which is smaller influenced than another axes by disturbance can be controlled without reducing or increasing its speed for precise position synchronization. The effectiveness of the proposed method is sucessfully confirmed through many experiments.s.

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A Study on Position and Force Control of A Robot Manipulator with Artificial Rubber Muscle (고무인공근 로보트 매니퓨레이터의 위치 및 힘 제어에 관한 연구)

  • Jin, Sang-Ho;Watanabe, Keigo;Lee, Suck-Gyu
    • Journal of the Korean Society for Precision Engineering
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    • v.12 no.1
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    • pp.97-103
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    • 1995
  • This paper describes position and force hybrid control for a robot manipulator with artificial rubber muscle actuators. The controller using two control laws such as PID control and fuzzy logic control methods is designed. This paper concludes to show the effectiveness of the proposed controller by some experiments for a two-link manipulator.

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Position/Force Control of Constrained Flexible Manipulators Using Structural Compliance Modeling (구조적 컴플라이언스 모델링을 이용한 구속받는 유연 매니퓰레이터의 위치/힘 제어)

  • Kim, Jin-Su
    • Journal of the Korean Society for Precision Engineering
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    • v.19 no.10
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    • pp.114-119
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    • 2002
  • The aim of this paper is to clarify the structural compliance of the constrained flexible manipulator and to develop the force control algorithm by using the compliance of the links. The proposed structural compliance control consists of the position control to utilize a flexible manipulator model (considering the compensation for the elastic deflection of links) and the passive force control to utilize the rigid manipulator model (without considering the compensation for the elastic deflection of links). We present the experimental results for the case when applying the only position control, and when applying the structural compliance control. Finally, a comparison between these results is presented to show the performance of our method.

Study on the Effective Operating Method on-off Valves of Pneumatic Servo System (개폐식 밸브를 사용한 공압 서보 시스템의 효율적 밸브 개폐에 관한 연구)

  • 황웅태;최서호;이정오
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1996.11a
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    • pp.820-825
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    • 1996
  • This paper is concerned with effective operating method of pneumatic on-off valves for improving position control accuracy, valve life-time and position settling time using modified pulse width modulation with dead-zone. The pneumatic system using on-off valves studied in this paper has advantage of simple construction and low cost compared with a system with servo-valves. The performance of proposed control system is investigated experimentally for the position control of a pneumatic cylinder using on-off valves. Experimental results show that the proposed algorithm for valve operation can be used to obtain fast and accurate position control and to prevent on-off valves from unnecessary switching.

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Velocity trajectory planning for the implementation of anti-swing crane (무진동 크레인 구현을 위한 속도경로설계 연구)

  • Yoon, Ji Sup;Park, Byung Suk
    • Journal of the Korean Society for Precision Engineering
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    • v.11 no.5
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    • pp.143-152
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    • 1994
  • The velocity trajectory profile of trolley is designed to minimize both swinging while transportation of load and the stop position error at the final stop position. This profile is designed to be automatically programmed by the digital control algorithm when the length of chain and the desired travel distance are given as a priori. Also, to minimize both swinging and the stop position error the anti-swing controller which improves poor damping characteristics of the crane and the stop position controller are employed. The experimentalresults of sequential adaptation of the velocity trajectory profile and these two controllers show that this control scheme has excellent control performance as compared with that of the uncontrolled crane system.

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