Motion control Research Papers - Academia.edu (original) (raw)

2025, IEEE Robotics &amp;amp; Automation Magazine

The ability to represent the behavior of complex systems through accurate models has become an indispensable tool in their design, evaluation, and operation. At the same time, the process of optimizing and fine-tuning mathematical models has been increasingly aided by the advent of high-performance computational environments. Analytical models are used to characterize and optimize their performance via closed-form solutions, numerical solutions, or, in some cases, solutions inferred through observation. Of course, the ability of a particular mathematical construct to reflect reality is dependent on what expression of reality one wants to model with it; nonetheless, computational experiments permit a higher degree of parametrization of physical phenomena without the expense or dangers of a flawed outcome. Robotics manipulators are highly complex systems; consequently, the development of computational platforms that allow for their precise modeling, and close to real-life simulation of their behavior, constitute a fundamental tool for robot designers, users, and students of the field. This reason has inspired the creation of numerous graphical software environments, from nonrobot-manufacturers, such as: RoboWorks (1], Robot Assist (2), Easy-ROB3D (3), WorkspaceS (4), and also from the manufacturers themselves.

2025

This chapter is a reproduction of a paper by Mariano Garcia, Anindya Chatterjee, Andy Ruina, and Michael Coleman entitled \The Simplest Walking Model: Stability, Complexity, and Scaling. It was published in the ASME Journal of Biomechanical Engineering Vol. 120, April 1998, pp. 281 { 288. Some additional gures and text have been added in Section 3.7.2. Sentences which refer to these gures, as well as this paragraph, are shown in italics to denote material which did not appear in the original text. My role in this paper was as follows: I concocted the model and its equations, and did all of the simulation and data collection, including nding gait cycles and analyzing them. The stability results suggested the possibility of period-doubling, and Anindya Chatterjee prodded me to look for it. Anindya and I also observed the scaling results and he formulated an analytic approach which we then implemented together. While implementing the approach, I realized that the higher-period solution...

2025, 2018 21st International Conference on Intelligent Transportation Systems (ITSC)

Autonomous vehicles are round the corner. Most of car manufacturers are racing to become a leader in this promising market. In this paper, we focus on one of the remaining challenges to be overcome, namely, the control of vehicle motion when friction varies. Researchers tend to estimate the friction coefficient using complex observers based on simple mathematical equation. We believe that by taken into account some formerly simplified dynamics, as roll dynamics, we can reduce the estimations' errors, and therefore use simple observers. Co-simulations of the control logic with a highfidelity vehicle model proved the relevance of this method. Results showed that the vehicle can be controlled in severe conditions while the friction changes using only today's passenger cars sensors. Vertical dynamics should therefore be taken into account even for plane motions.

2025, Mathematics and Computers in Simulation

Many industrial operations can be automated using robot arms that, however, require the use of robots being able to perform surface-following in an adaptive way. Surface-following in real-time based on sensor information is a delicate task to overtake, yet very useful in operations like painting, welding, glues administration and surface polishing. The surface-following can be accomplished either by using previous knowledge of the shape of the surface, by executing a sequence of movements point-by-point, or in an adaptive way. In the last case a sensor or a set of sensors for collecting data from the environment is used. Furthermore, the surface-following can be characterized by occur with or without robot-surface contact. The paper describes a 3-D surface-following controller. The surface-following operation is performed in real-time, out of contact using proximity information. Experimental results concerning 3-D surface-following movements performed by a PUMA 560 robot are shown.

2025, IEEE Transactions on Intelligent Transportation Systems

2025, Defence Science Journal

The implementation of interconnect gain from aileron to rudder surface on the majority of the aircraftis to decrease sideslip which is generated because of adverse yaw with the movement of control stick in lateral axis and also enhances the turning rate performance.The Aileron to Rudder Interconnect (ARI)involves significant part to decouple the Dutch roll oscillations from roll rate response to aileron command. ARI is feed-forward gain whichis susceptible to aircraft system uncertainty. Incorrect ARI gain can lead to side slip buildup which can cause aircraft to depart in case of fault scenarios. Four systematic ARI design methods are proposed. One of the proposed methods which use the norm of ARI transfer function at roll damping frequency is suitable for online reconfiguration of control law. The reconfiguration of ARI gain is illustratedwith the simulation responses of fault scenario case of aileron surface damage.

2025, Lecture Notes in Computer Science

Dance is one form of entertainment where physical movement is the key factor. The main reason why robots are experiencing a kind of "boom" is that they have a physical body. We propose a robot dance system that combines these two elements. First, various factors concerning entertainment and dance are studied. Then we propose the dance system by robot using motion unit and the synthetic rule referring the speech synthesis. Also we describe the details of the system by focusing on its software functions. Finally we show the evaluation results of robot dance performances.

2025

This manuscript presents the formulation and experimental substantiation of a novel mechanical principle: the conversion of lateral harmonic oscillations into usable inertial momentum, resulting in measurable enhancement of translational energy in rolling systems. This phenomenon-termed inertial stabilization via passive energy amplification-is herein analyzed as the theoretical underpinning of a previously unexplained effect observed in sinusoidal rolling elements, most notably applied in U.S. Patent No. 10,974,919 B2. Through controlled experimental conditions and comparative energy analysis, this work demonstrates that sinusoidally structured surfaces can induce a directional inertial bias that compensates for translational resistance without any decrease in rolling friction. The mechanism constitutes the first known industrial deployment of passively generated dynamic energy, and its conceptual origin is attributed to the author.

2025

This paper focuses on the use of qualitative analysis of human gesture for improving the believability of recovered human movements from a small number of sensors. In particular, the pilot study presented here compares expressive features extracted from a real human performance and the rendered animations from two reconstructions based on the measured sensor data.

2025, The XIX International Conference on Electrical Machines - ICEM 2010

In this paper an active way linear synchronous motor with multiphase independent supply is presented. The paper is mainly focused on the power electronics and control structure. The whole system, motor, power electronics and control has been built and successfully tested. The obtained results show that the chosen multi DSP master-slave structure allows the control of the proposed linear motor with good performances and reasonable costs.

2025

The main distinguishing feature of different automatic parking technologies is the method that determines a proper collision-free path. Hereby, the length of the path, the number of halts and the computation time for finding such path are the most relevant performance criteria. In this thesis, a two-step trajectory planning algorithm for automatic parking is considered. The algorithm finds a path that meets all kinematic constraints of the car from its initial position, to the target position while requiring a small number of vehicle halts. It first calculates a collision-free path from the initial position to the target position by maximizing the distance from any obstacle. Since this path usually does not respect the kinematic constraints of the vehicle, a second algorithmic step computes a path that is suitable for the vehicle. In both steps, a set of 48 optimal trajectories is used for the path computations and distance evaluations. Since the trajectory planning algorithm requir...

2025, The Mathematica Journal

Tzitzeica curves and surfaces represent early examples of affineinvariant geometrical objects. At the time Gheorghe Tzitzeica was studying these objects, affine differential geometry (ADG) was in its infancy. ADG was motivated by Felix Kleinʼs influential Erlangen program, where a geometry was defined by its set of invariants under a group of symmetries. We find that the issue lends itself well to a relatively elementary discussion suitable for upper-division undergraduates and nonspecialists, while still providing the basic thrust of this elegant subject. Moreover, the topic is an excellent one to illustrate the utility of Mathematicaʼs symbolic manipulation and graphics capabilities. For this reason, the article nicely complements the existing literature on the uses of software in differential geometry (such as ), and it provides material that would be useful for inclusion in a differential geometry course either as an application or a project. Ë For curves, G denotes the torsion, d is the distance from the origin to the osculating plane, b = 2, and a oe .

2025, DORA Empa (Swiss Federal Laboratories for Materials Science and Technology (Empa))

Nanoscale, low-phase noise, tunable transmitter-receiver links are key for enabling the progress of wireless communication. We demonstrate that vortex-based spin-torque nano-oscillators, which are intrinsically low-noise devices due to their topologically-protected magnetic structure, can achieve frequency tunability when submitted to local ion implantation. In the experiments presented here, the gyrotropic mode is excited with spin-polarized alternating currents and anisotropic magnetoresistance measurements yield discreet frequencies from a single device. Indeed, chromium-implanted regions of permalloy disks exhibit different saturation magnetisation than neighbouring, non-irradiated areas, and thus different resonance frequency, corresponding to the specific area where the core is gyrating. Our study proves that such devices can be fabricated without the need of further lithographical steps, suggesting ion irradiation can be a viable and costeffective fabrication method for densely-packed networks of oscillators.

2025, TELKOMNIKA Telecommunication Computing Electronics and Control

The high inertia ceiling suspended systems with multiple degrees of freedom uses power assist technologies to reduce operator's burden to operate the machine. Such systems are popularly used in medical diagnostic systems, construction machines, material handling, automotive, and aerospace assembly lines. These systems commonly use multi-axis force-torque (FT) sensor to sense the forces applied by user on rotatable control handle. These sensed forces are utilized by power assist algorithm to drive system in required direction with the help of electrical motor drives. The rotatable control handle used to control the machine poses a significant obstacle for maintaining alignment between FT sensor coordinate frame and the system's base frame. This research paper focuses on the development of homogeneous transformation matrix to compensate for any change in FT sensor orientation caused by rotation of control handle. The homogeneous transformation matrix developed in this research paper, transforms the force and torque values measured by FT sensor with respect to system base frame. This adaptive technique provided seamless control of the power assist ceiling suspended system from different directions during handling and movement. This helped to enhance control and flexibility of power assist ceiling suspended system.

2025

Quadrotors are nonlinear systems that can be controlled by human experts. Since the mathematical models of Quadrotors are quite complex, the expert knowledge may be one way to come to a solution for controlling Quadrotors. However, human experts make occasionally mistakes, and thus some linguistic rules used in the controller may be false or redundant. Hence, fuzzy logic type 2 optimized by ANFIS (Adaptive Neuro-Fuzzy Inference Systems), which can deal with uncertainties, could be applied to control Quadrotors. ANFIS can optimize the number of linguistic rules and the domain of membership functions could be adjusted automatically. In addition, ANFIS should also be capable of identifying bad rules so the digital system (micro-controller) can decrease the computational resources required for implementing the fuzzy logic controller type 2. The controller designed can accomplish excellent experimental results when it is reduced by an ANFIS system. To confirm robustness in the fuzzy logi...

2025, International Scientific Journal of Engineering and Management (ISJEM)

The Tank Simulator project focuses on the development of a virtual model that accurately replicates the behavior, control, and logistics of a fuel or cargo tanker system. The aim is to simulate real-world operational conditions such as load balancing, fluid dynamics, navigation, and safety protocols in a controlled digital environment. This simulation provides an efficient platform for testing strategies in transportation, distribution, and risk mitigation without the need for physical deployment. Using advanced simulation tools and physics engines, the model replicates: 1. Fluid movement within tanker compartments under various acceleration and deceleration conditions. 2. Navigation and maneuvering dynamics in constrained or open environments. 3. Load management and real-time stability monitoring 4. Emergency handling protocols for leaks, overflows, or fire scenarios. This simulation model serves as a training, planning, and validation tool for engineers, operators, and researchers. It helps optimize design, improve safety measures, and reduce costs associated with physical testing. The Simulation Tanker project is particularly relevant in sectors like oil and gas, logistics, maritime operations, and industrial safety engineering.

2025, Control Engineering Practice

Mobi le robots motion control has been extensively studied based on a si"lll ified mobile robot and actuator dynamic model. Free and contact motion control as well as collision avoidance require suitable robot and actuators models and the integration of sensors information into the system controller. In the present paper, artificial iJllledance approach is used for developing the high level controller of a mobile robot. The control law is based on a Newtonian dynamics model of the mobile robot. Range sensors information is used in the trajectory correction for avoiding colI ision. Force sensors information is integrated in the contact motion controller based on an artificial impedance approach. Simulation results illustrate the performance of the iJllledance based controller.

2025, Automatica

This paper describes some experimental results concerning the practical implementation of a recently proposed nonlinear output-feedback control technique based on the higher-order sliding mode approach. The considered technique is applied to the motion control problem for an underwater vehicle prototype that is equipped with a special propulsion system based on hydro-jets with variable-section nozzles. To cope with the heavy uncertainties a ecting the prototype dynamics the output-feedback control system has been developed by means of an observer-controller that combines a second-order sliding-mode controller and a second-order sliding-mode di erentiator. The reported experiments show that the proposed approach is capable of guaranteeing fast and accurate response under several operating conditions. The control system design procedure, and the main implementation issues, are discussed in detail.

2025, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

This paper presents investigations into the development of hybrid control schemes for anti-swaying and input tracking control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated PD-type Fuzzy Logic control is developed for cart position control of gantry crane. This is then extended to incorporate a non-collocated PID and an input shaper control schemes for anti-swaying control of the system. The positive input shapers with the derivative effects are designed based on the properties of the system. Simulation results of the response of the gantry crane with the controllers are presented in time and frequency domains. The performances of the control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to the PD-type Fuzzy Logic control. Finally, a comparative assessment of the control techniques is presented and discussed.

2025, IEEE Transactions on Automatic Control

This note describes a systematic procedure for the control synthesis of a rigid spacecraft using the energy shaping method. The geometric concept of a mechanical system in a coordinate-independent form is used to derive a control algorithm for the Euler-Poincaré equations. The main result of this note is a specialization of the method on the unit quaternion group. This note is concluded with the examples of the potential functions and implementation for the three-axis attitude control problem.

2025, ArXiv

In this paper we study the problem of steering a team of Unmanned Aerial Vehicles (UAVs) toward a static configuration which maximizes the visibility of a 3D environment. The UAVs are assumed to be equipped with visual sensors constrained by a maximum sensing range and the prior knowledge on the environment is considered to be very sparse. To solve this problem on-line, derivative-free measurement-based optimization algorithms can be adopted, even though they are strongly limited by local optimality. To overcome this limitation, we propose to exploit the partial initial knowledge on the environment to find suitable initial configurations from which the agents start the local optimization. In particular, a constrained centroidal Voronoi tessellation on a coarse approximation of the surface to cover is proposed. The behavior of the agent is so based on a two-step optimization approach, where a stochastic optimization algorithm based on the on-line acquired information follows the geom...

2025, Int. J. Innov. Mech. Eng. Adv. Mater

Cars are a prevalent mode of transportation for both people and goods, with B-class hatchbacks being particularly popular in Indonesia. However, road traffic crashes remain a major concern, contributing millions of deaths annually, primarily due to human error. Autonomous vehicles offer a promising solution to mitigate these issues by reducing reliance on human control. In particular, Level 3 autonomous vehicles enhance road safety, enable independent mobility, reduce traffic congestion, and allow drivers to engage in non-driving tasks. This study proposes an autonomous vehicle model that employs a trajectory tracking approach using Model Predictive Control (MPC), a robust and widely adopted control strategy in autonomous systems. A three-degree-of-freedom (3-DOF) vehicle dynamic model was developed and analyzed through co-simulation using Car-Sim and Simulink to evaluate its performance during a double-lane change maneuver. The simulation results demonstrate that the vehicle accurately follows the reference trajectory and exhibits excellent dynamic performance. The roll angle remained consistently low, ranging between 0.024 and 0.026 radians-well below the rollover threshold of 0.14 radians-demonstrating strong roll stability. The slip angle varied between-0.013 and 0.0135 radians, nearly 12 times lower than the critical limit, indicating optimal traction and directional control. Lateral acceleration ranged from-3.59 m/s² to 3.41 m/s², and yaw rate remained within-7.78°/s to 7.25°/s, both well within safe operational bounds. These findings confirm that the proposed MPC-based control framework enables precise path tracking, robust stability, and reliable handling performance in dynamic driving scenarios.

2025, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

This paper introduces a new comprehensive solution for the open problem of uncalibrated 3D image-based stereo visual servoing for robot manipulators. One of the main contributions of this article is a novel 3D stereo camera model to map positions in the task space to positions in a new 3D Visual Cartesian Space (a visual feature space where 3D positions are measured in pixels). This model is used to compute a full-rank Image Jacobian Matrix (J img ), which solves several common problems presented on the classical image Jacobians, e.g., image space singularities and local minima. This Jacobian is a fundamental key for the image-based control design, where uncalibrated stereo camera systems can be used to drive a robot manipulator. Furthermore, an adaptive second order sliding mode visual servo control is designed to track 3D visual motions using the 3D trajectory errors defined in the Visual Cartesian Space. The stability of the control in closed loop with a dynamic robot system is formally analyzed and proved, where exponential convergence of errors in the Visual Cartesian Space and task space without local minima are demonstrated. The complete control system is evaluated both in simulation and on a real industrial robot. The robustness of the control scheme is evaluated for cases where the extrinsic parameters of the stereo camera system change on-line and the kinematic/dynamic robot parameters are considered as unknown. This approach offers a proper solution for the common problem of visual occlusion, since the stereo system can be moved to obtain a clear view of the task at any time.

2025, International Journal For Scientific Research and Development

The modern developing communication industry requires increasingly faster, more throughput and reliable com-munication networks which are able to work in a hard real-time situation. This paper presents the EtherCAT communication technology that does not only meet the above requirements but also allows market to reduce implementation costs in order to have affordable and reliable services. The paper further explains the EtherCAT operation principles with the most important mechanisms such as Frame processing on-the-fly, logic ring topology and slave synchronization among other mechanisms. The comparison of EtherCAT with the traditional most pop-ular industrial based networks is also presented to show the leading position of this upcoming technology in the Industrial communication networks in terms of reliability, performance, implementation and cost.

2025

This paper presents kinematic and dynamic modeling techniques for flexible robots. . The main emphasis is to discretize whole flexible link in very small parts each considering as a rigid link. This approach is based on a "discretization method". In kinematics position or deflection is solved by deflection of cantilever beam theory while orientation is solved by forward kinematics. Dynamics is solved by applying Lagrange-Euler formulation.

2025

Without their assistance and dedicated involvement in every step throughout the work, this PhD thesis would have never been accomplished. I would like to thank you very much for your support and understanding over these past four years. My sincere thanks also goes to Olivier LEHMANN for his help during my thesis, especially for the robotic part of my thesis work. Without forgetting Alexis CASPAR and Florent BEHAGUE for their help for the optical part of my thesis. I would not take the risk of then mentioning all those who helped me during this thesis within the department, for fear of forgetting some. I would like to think all those who have contributed to my work, those who made mechanical parts for me, those who allowed me to take a stepbacks, those who trained me on how research works, those with whom I simply had a good laugh. Thank you for everything the AS2M department, to all those who have been there since my arrival to those who will probably see my departure. Many thanks to the members of my thesis jury, Yassine HADDAB, Fr éd éric LAMARQUE, Marcel TICHEM, Philippe ADAM and Maria-Pilar BERNAL for having agreed to evaluate my work and for the very interesting discussions that took place following my presentation. Last but not the least, I would like to thank my family: my parents, my brothers and sisters for supporting me spiritually throughout writing this thesis and my life in general. v General introduction 1 Micro/nano robotic positioning for integrated optics

2025

Manipulation et micro-assemblage de lamelles sur les structures nano-photoniques cible des defis scientifiques tres prometteurs et de premier ordre. Il est notamment necessaire de definir une strategie de prehension, de developper des outils de prehension adequates et de definir une strategie pour un assemblage precis, y compris les aspects de collage tout a l'interieur du microscope electronique a balayage (MEB). La manipulation d'un tel structure photonique est un probleme complexe que la these doit aborder. Une attention particuliere sera portee aux tâches de saisie en raison de la grande fragilite de ces composants (facteur de forme superieur a 20), leur tres petite taille (plus grande dimension de quelques dizaines de micrometres d'ordre) et la necessite d'assurer leur position par rapport au repere de pinces de maniere tres precise. Travaux comprendront notamment la conception d'outils de prehension et la definition de strategies de prehension associes pour...

2025, Australasian Conference on Robotics and Automation (ACRA 2016)

This paper presents a vision-based control
method for a novel low-cost encoderless flexible
lightweight robot arm system, designed to assist
people who need help manipulating objects in
everyday life. The vision system detects the
positions of the joints, using two cameras in an
orthogonal configuration that is shown to
provide accurate 3D detection after calibration.
The lightweight robot arm is a 3-joint non-planar
robot, consisting of a soft plastic inflatable arm,
pneumatic air valves, a custom PCB with
multiple DAC channels, two cameras, a
Raspberry Pi and a PC. The lightweight robot
arm is centered in the view of two orthogonal
cameras to provide measurements of each joint
in 3 dimensions. Inverse kinematics are used to
calculate the angles required to reach a target and
PI controllers are used to control the angle of
each joint. A fuzzy controller is then used to
remove the steady state error caused by
unintended flexion and rotation in the joints.
Using the PI controllers and fuzzy based position
controller, the arm has been tested to precisely
navigate to and track stationary and moving
objects within a close proximity.

2025, International Journal of Power Electronics and Drive System (IJPEDS)

The efficiency of control systems in permanent magnet synchronous motors (PMSM) is crucial, especially for applications in physiotherapy robots. Previous studies have demonstrated that an open-loop field-oriented control (FOC) driver using BTS7960 outperforms the commonly used electronic speed controller (ESC). This research addresses the challenge of further improving efficiency by employing a closed-loop FOC driver with the BTS7960. The research methodology involves two main stages. First, a PSIM software simulation of a closed-loop FOC using a proportional integral (PI) controller is conducted. The aim is to determine the P and I parameters that result in the smallest settling time, steady-state error, and overshoot in controlling the PMSM motor's rotation per minute (RPM). The second stage involves hardware implementation with the BTS7960, where the PMSM motor RPM is compared under various loads ranging from 10-gram to 60gram. RPM results from both open-loop and closed-loop configurations are compared. The results show that the closed-loop FOC driver has improved system transient response compared to the previous open-loop FOC driver, notably reducing the settling time from 2.24 seconds to 1.45 seconds for a 60gram load. Therefore, this research concludes that a closed-loop configuration with well-tuned PI parameters can deliver better performance compared to open-loop methods, as clearly demonstrated.

2025, IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society

In this paper, an algebraic based approach for motion control of a two-mass system is presented. Algebraic menas, that the structure of the presented controller is found as the solution of the polynomial equation. The design approach is separated into two parts -velocity and position control design. Where for the velocity control the Model Reference Control schema with biquadratic filter is used. For the position control, a simple proportional controller is used. Described control schema also utilized an Anti-Windup mechanism together with controller output limitation to ensure torque (current) limit control. Firstly, the used model and method are described, then their application in the sense of the control design is described. Lastly, experimental results are presented and discussed.

2025, International Journal of Control

A class of underwater vehicles are modelled as Newtonian particles for navigation and control. We show a general method that controls cooperative Newtonian particles to generate patterns on closed smooth curves. These patterns are chosen for good sampling performance using mobile sensor networks. We measure the spacing between neighbouring particles by the relative curve phase along the curve. The distance between a particle and the desired curve is measured using an orbit function. The orbit value and the relative curve phase are then used as feedback to control motion of each particle. From an arbitrary initial configuration, the particles converge asymptotically to form an invariant pattern on the desired curves. We describe application of this method to control underwater gliders in a field experiment in Buzzards Bay, MA in March 2006.

2025, 2007 46th IEEE Conference on Decision and Control

Autonomous mobile sensor networks are employed to measure large scale environmental scalar fields. Yet an optimal strategy for mission design addressing both the cooperative motion control and the collaborative sensing is still under investigation. We develop one strategy which uses four moving sensor platforms to explore a noisy scalar field defined in the plane; each platform can only take one measurement at a time. We derive a Kalman filter in conjunction with a nonlinear filter to produce estimates for the field value, the gradient and the Hessian along the averaged trajectories of the moving platforms. The shape of the platform formation is designed to minimize error in the estimates, and a cooperative control law is designed to asymptotically achieve the optimal formation. We develop a motion control law to allow the center of the platform formation to move along level curves of the averaged field. Convergence of the control laws are proved, and performance of both the filters and the control laws are demonstrated in simulated ocean fields.

2025, 2011 IEEE International Conference on Robotics and Automation

Underwater Gliders have found broad applications in ocean sampling. In this paper, the nonlinear dynamic model of the glider developed by the Shenyang Institute of Automation, Chinese Academy of Sciences, is established. Based on this model, we solve for the parameters that characterize steady state spiraling motions of the glider. A set of nonlinear equations are simplified so that a recursive algorithm can be used to find the solutions.

2025, International Journal of Control

2025, 2003 European Control Conference (ECC)

This paper presents a synchronous control scheme for a high-speed machine tool using linear servomotors. The gantry machine tool is mainly composed of three linear servomotors: one for the X-axis and the other two as a parallel pair for the Y-axis. The advantage of such a structure with two parallel linear servomotors for a single axis is to enable the machine to operate at high speed and acceleration and to increase the stiffness and precision. However, the major concern is the precisely synchronous movement of the pair of linear servomotors, and to overcome this problem, a master/slave control technique is applied. Repetitive control for periodic errors compensation is also considered here. Experimental results are presented to demonstrate the effectiveness of the proposed control systems.

2025, Proceedings 1992 IEEE International Conference on Robotics and Automation

Results are presented of an experimental study of a recently developed motion control algorithm for mobile manipulators. First, the dynamic interactions between a mobile manipulator and its vehicle are shown to lead to poor performance when a conventional fixed-base controller, which neglects these interactions, is used. Then the mobile manipulator control algorithm, which accounts for dynamic vehicle motions caused by manipulator motions, is shown to be stable and to perform well, while using only limited sensory data, such as would be practically available in highly unstructured field environments. Robotic manipulators are being considered for a wide variety of applications outside of their traditional factory settings. These applications, such as fire-fighting, toxic waste cleanup, and planetary exploration will require the manipulators to operate from moving vehicles, i.e. as mobile manipulators, see Fig. [1].

2025

Two recently developed motion control algorithms for mobile manipulators are applied to an experimental system. The manipulator motions induce significant dynamic interactions with its vehicle and suspension. A conventional fixed-base controller, which typically neglects these dynamic interactions, is shown to lead to poor performance. Both mobile manipulator control algorithms, however, which account for dynamic vehicle motions caused by manipulator motions, are shown to perform well, despite practical limitations imposed on the sensory data available for control in field environments.

2025, Proceedings. 1991 IEEE International Conference on Robotics and Automation

Conventional fixed-base controllers are shown not to perform well on mobile manipulators due to the dynamic interactions between a manipulator and its vehicle. An extended jacobian transpose control algorithm is developed to improve the performance of such manipulator systems. It is shown to perform well in the presence of modelling errors and the practical limitations imposed by the sensory information available for control in highly unstructured field environments.

2025, Journal of Intelligent and Robotic Systems

A motion control strategy for rigid robot manipulators based on sliding mode control techniques and the compensated inverse dynamics method is presented in this paper. The motivation for using sliding mode mainly relies on its appreciable features, such as simplicity and robustness versus matched uncertainties and disturbances. Furthermore the proposed approach avoids the estimation of the timevarying inertia matrix. As a preliminary step a first order sliding mode control law is presented. Then a second order strategy is discussed. In both cases the problem of chattering, typical of sliding mode control, is suitably circumvented. Simulations results demonstrates the good tracking properties of the proposed control strategy.

2025

This paper compares command shaping techniques for controlling residual vibration of high-performance machines. Input shaping generates vibration-reducing shaped commands through convolution of an impulse sequence with the desired command. Because input shaping has similarities to notch filtering, it is compared here with a variety of FIR and IIR filters. Several types of input shapers are presented and shown to be more effective than any of the conventional filters.

2025, Mechanical Systems and Signal Processing

This paper presents a new control scheme based on model reference command shaping (MRCS) for an overhead crane, with double-pendulum mechanism effects. The approach has an advantage in achieving an accurate trolley positioning, with low hook and payload oscillations, under various desired trolley positions and parameter uncertainties, without the requirement for measurement or estimation of system parameters. These are challenging in practice. The previously developed MRCS algorithm is improved in order to reduce its design complexity, as well as to ensure that it can be augmented with a feedback controller so that a concurrent controller tuning can be realised. The combined MRCS and feedback controller is used to achieve both, precise trolley positioning, and low hook and payload oscillations. To evaluate the effectiveness and the robustness of the approach, simulations and experiments using a nonlinear model and a laboratory double-pendulum crane are carried out. Under various desired positions and parameter uncertainties that involve varying the cable lengths (payload hoisting) and the payload mass variations, the superiority of the proposed approach is confirmed by achieving higher hook and payload oscillation reductions when compared with a recently proposed feedback controller. In addition, the desired trolley positions are achieved with smoother responses.

2025, HAL (Le Centre pour la Communication Scientifique Directe)

This paper presents a model for virtual reconfigurable modular robots in order to evolve artificial creatures, able of selfadaptation to the environment as well as good adjustment to various given tasks. For this purpose, a simulator has been entirely developed with the assistance of a physics engine to represent force activities. One of the most crucial points in modular robot construction is the choice of module type, complexity and diversity. We took interest on existing elements to obtain realistic results but assume simplifications to focus on our main goal that is algorithmic.

2025

This paper presents a model for virtual reconfigurable modular robots in order to evolve artificial creatures, able of self-adaptation to the environment as well as good adjustment to various given tasks. For this purpose, a simulator has been entirely developed with the assistance of a physics engine to represent force activities. One of the most crucial points in modular robot construction is the choice of module type, complexity and diversity. We took interest on existing elements to obtain realistic results but assume simplifications to focus on our main goal that is algorithmic.

2025

W Polsce zwykle protezowanie kończyn dolnych pro- wadzi się dwufazowo. Tuż po amputacji stosuje się protezę tymczasową, a następnie po kilku miesiącach protezę ostateczną, która niezależnie od producenta jest wykonywana tą samą technologią. W Centrum Re- habilitacji im. prof. M. Weissa w Konstancinie stosuje się system jednofazowy. Jednofazowe protezowanie, oparte na rozwiązaniach konstrukcyjnych modułowych, jest powszechnie stosowane w krajach wysoko uprze- mysłowionych. W 1996 roku w Centrum Rehabilitacji rozpoczęto prace nad stworzeniem polskiego systemu modułowego będącego w pełni kompatybilnym z sys- temami firm zachodnich (6). Metody leczenia narzą- dów ruchu obejmują zarówno metody zachowawcze polegające na stosowaniu aparatów usztywniających, unieruchamiających, gorsetów i kołnierzy służących do wzmacniania słabych lub niesprawnych stawów lub mięśni, jak i metody zastępowania utraconych lub nie- sprawnych narządów lub organów protezami. Stoso- wane są protezy gałki ocznej, p...

2025

The controlled motion of a new structure of manipulator robot is under study. In comparison with the well-known SCARA robot the proposed robotic system has the following new features: in addition to powered drives it comprises several unpowered passive spring-damper-like drives. An additional link has also been incorporated into the structure that gives the possibility to obtain a semipassively actuated closed-loop chain robot. Special emphasis is put on a study of the interaction between the controlling stimuli of the powered drives and the torques exerted by the unpowered drives needed to provide the energy-optimal motion of the robot. Computer simulations have demonstrated the numerical e ciency of the developed algorithms and have proved several advantages of the considered semipassively actuated closed-loop robot.

2025, IEEE Transactions on Industry Applications

A novel controller based on multiresolution decom position using wavelets is presented. The controller is similar to a proportional-integral-derivative (PID) controller in principle and application. The output from a motion control system represents the cumulative effect of uncertainties such as measurement noise, frictional variation, and external torque disturbances, which man ifest at different scales. The wavelet is used to decompose the error signal into signals at different scales. These signals are then used to compensate for the uncertainties in the plant. This approach provides greater expanse over the degree of control applied to the system. Through hardware and simulation results on motion con trol systems, this controller is shown to perform better than a PID in terms of its ability to provide smooth control signal, better dis turbance, and noise rejection.

2025, International Journal of Management, Technology And Engineering

The convergence of Artificial Intelligence (AI) and robotics is revolutionizing industries by introducing intelligent automation solutions that enhance efficiency, precision, and adaptability. With rapid advancements in machine learning, computer vision, and autonomous control systems, AIpowered robots are no longer limited to repetitive tasks but are now capable of learning, decisionmaking, and dynamic problem-solving. This paper explores how AI and robotics together are reshaping various sectors, including manufacturing, healthcare, logistics, agriculture, and service industries. It delves into the evolving role of intelligent systems in automating complex processes, improving operational performance, and reducing human error. Through an extensive literature survey, we review the historical development of intelligent automation, highlighting key milestones and technological breakthroughs that have enabled today's sophisticated applications. The working principles section examines the core functionalities of AI algorithms and robotic hardware integration, emphasizing machine learning models, sensor fusion, and real-time decision-making mechanisms. Case studies from different industries demonstrate the practical impacts and benefits of implementing intelligent automation, such as increased productivity, cost savings, enhanced safety, and improved customer experiences. While AI and robotics offer transformative potential, challenges such as ethical concerns, data privacy issues, high implementation costs, and the need for upskilling the workforce remain significant. This paper also discusses potential future enhancements, including the role of quantum computing, bio-inspired robotics, and explainable AI in shaping the next generation of intelligent automation systems. By analyzing current trends and anticipating future developments, this study aims to provide a comprehensive understanding of how AI and robotics are driving industrial transformation and paving the way for a more connected, efficient, and intelligent future.

2025

Basins of the periodic attractors of a harmonically excited single spherical gas/vapour bubble were examined numerically. As cavitation occurs in the low pressure level regions in engi-neering applications, the ambient pressure was set slightly be-low the vapour pressure. In this case the system is not strictly dissipative and the bubble can grow infinitely for sufficiently high pressure amplitudes and/or starting from large initial bub-ble radii, consequently, the stable bubble motion is not guar-anteed. For moderate excitation pressure amplitudes the ex-act basins of attraction were determined via the computation of the invariant manifolds of the unstable solutions. At sufficiently large amplitudes transversal intersection of the manifolds can take place, indicating the presence of a Smale horseshoe map and the chaotic behaviour of system. The incidence of this kind of chaotic motion was predicted by the small parameter pertur-bation method of Melnikov. Keywords bubble dynamics · ...

2025, Proceedings of the 21st IEEE Instrumentation and Measurement Technology Conference (IEEE Cat. No.04CH37510)

2025, Przegląd Elektrotechniczny

This paper presents hardware and software solution that enables rapid implementation of motion control algorithms. Presented solution enables control design in MATLAB/Simulink and rapid transition from model-based design to real-time operation on DSP-based target hardware. In addition to rapid control prototyping, presented solution enables data visualization, parameter tuning and remote control by using LabVIEW. Streszczenie. Artykuł przedstawia rozwiązanie hardware'owe i software'owe. Umożliwiające szybką implementację algorytmów sterowania ruchem. Zaprezentowane rozwiązanie wykorzystuje platform MATLAB/Simulink i szybkie przejście z projektu opartego na modelu do celowego urządzenia, bazującego na DSP i działającego w czasie rzeczywistym. Poza tym szybkie sterowanie prototypowe daje możliwość wizualizacji. Dopasowania parametrów oraz zdalnego sterowania przy użyciu Lab-View. (Aplikacja platformy dla szybkiej implementacji eksperymentów w zakresie lokalnego i zdalnego srerowanie