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[en] We propose an enhanced controller to improve the robustness of Time Delay Control (TDC) for a robot manipulator in the presence of nonlinear friction, such as Coulomb friction. The problem of TDC is first analyzed with TDC as a trajectory control for a robot manipulator in the presence of nonlinear friction. Gradient estimation is used to solve this problem. The proposed controller is called TDC with Gradient Estimator (TDCGE). Comparing with a prior research to improve the robustness of TDC, named TDCSA, the TDCGE is much simpler to design. Through 1 DOF linear motor experiment, it is verified that the TDCGE is more robust against nonlinear friction than TDC and the TDCGE has a similar robustness to the TDCSA. In addition, it is confirmed that the TDCGE is easily implemented in the multi degree-of-freedom robot manipulator through a 3 DOF spatial robot manipulator experiment
[en] This paper presents a Task Oriented Design method for robot kinematics based on grid method, widely used in finite difference method and heat transfer/fluid flow analyses. This approach drastically reduces complexities and computational burden due to previous approaches. More specifically, the grid method with a new formulation simplifies the design to a problem of three-design-variable unit grid, which does not require to solve inverse/forward kinematics. The effectiveness of the grid method has been confirmed through a kinematics design of a robot for nuclear power plants. (author)
[en] This paper focuses on two problems occurring in modeling a hydraulic excavator. The first problem arises in the modeling process. Because a hydraulic excavator has a very complex structure, the modeling process requires considerable time and is prone to errors. This problem is solved by conceptually modeling an excavator system using bond graph methods, the top-down and bottom-up methods, and the modeling software developed by the authors, and then, automatically deriving the nonlinear symbolic mathematical model from the conceptual model by using the modeling software. The other problem arises in obtaining parameters of the model. It is difficult to obtain the specification data for hydraulic components provided by manufacturers in general and to obtain the experimental data for estimating unique parameters. To solve this problem, an estimation method is devised for estimating parameters based on the experimental data that can be easily obtained. These methods enable easy and efficient modeling of an excavator system. In addition, the established model is verified through the comparison between the simulation and the experimental results. Also, this paper provides a good example of modeling of the large complex system
[en] In this paper, a closed-form formulation for inverse kinematics of robot manipulators with kinematic redundancy under the constrained environment has been derived using the Kuhn -Tucker condition, the extended Lagrange multiplier method and the working set method. The proposed algorithm satisfies the necessary and sufficient conditions for optimization subject to equality and inequality constraints. In addition, computationally efficient kinematic control methods have been proposed using differential kinematics and gradient projection method. The effectiveness of the proposed methods has been demonstrated with a 4-dof planar robot, and then a 7-dof spatial robot as a practical application to the nozzle dam task in the nuclear power plant. (author)
[en] This work presents two simple and robust techniques based on time delay estimation for the respective control and synchronization of chaos systems. First, one of these techniques is applied to the control of a chaotic Lorenz system with both matched and mismatched uncertainties. The nonlinearities in the Lorenz system is cancelled by time delay estimation and desired error dynamics is inserted. Second, the other technique is applied to the synchronization of the Lue system and the Lorenz system with uncertainties. The synchronization input consists of three elements that have transparent and clear meanings. Since time delay estimation enables a very effective and efficient cancellation of disturbances and nonlinearities, the techniques turn out to be simple and robust. Numerical simulation results show fast, accurate and robust performance of the proposed techniques, thereby demonstrating their effectiveness for the control and synchronization of Lorenz systems.