- Saturday, April 1, 2006
- Published at:Not Found
- The design of a motion control system for a powered reciprocating gait orthosis is considered. Models for the orthosis are obtained using least squares identification. The control system design is based on pole-placement techniques and a restricted Youla parametrization of the controller. Experimental results are included.
ISA Transactions, Volume 45, Issue 2, April 2006, Pages 249-258
http://dx.doi.org/10.1016/S0019-0578(07)60193-1
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- Tuesday, February 1, 2005
- Published at:Not Found
- Mobile robots is a relatively new research area that is normally considered from several different perspectives mainly, engineering and computer science levels. This paper deals with the engineering level of mobile platforms; i.e. the physical, hardware and mechatronic levels of mobile platforms, and presents complete models for the main hardware components of mobile platforms. The presented models can be used for simulation and control of mobile platforms, and they take into account the hardware limitations, friction force and the topography of the environment for out door navigation.
Proceedings of the First international Conference on Modeling, Simulation & Applied Optimization, ICMSAO/05, American University of Sharjah, UAE on February the 1st, 2005.
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- Thursday, April 1, 2004
- Published at:Not Found
- Since no universal friction model exists and the practical measurement of friction is not straightforwad, this paper presents an experimental method of identifying friction in mechatronic systems. Friction is prehaps the most important nonlinearity that is found in any mechatronic system of moving parts and influences the system in all regimes of operation. For the purpose of improving the performance of mechatronic systems and solving their servo problem, a better understanding of friction behavior in its two basic regimes is needed. In this paper, the two basic friction regimes, viz., presliding with its hysteresis behavior, which is predominantly position dependent, and gross sliding, which is predominantly velocity dependent, are well exposed and identified.
ISA Transactions, Vol 43, No 2, April 2004, pp 205-216.
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