1,721,171 research outputs found
Fault Diagnosis And Fault Tolerance For Mechatronic Systems: Recent Advances
No full textThe book reports an extended version of the lectures given by distinguished scholars at the workshop "Fault diagnosis and fault tolerance for dynamic systems" held in conjunction with the 2002 IEEE International Symposium on Intelligent Control in Vancouver, Canada, from 27-30 October 2002. The book collects some of the most recent results in fault diagnosis and fault tolerant systems with particular emphasis on mechatronic systems. Each chapter focuses on either theoretical aspects or applications to different fields of interest in mechatronics such as industrial robotics, underwater vehicles, hydraulic systems, and flight control
In-depth concentration profiles of metals in glass waveguides by secondary ion mass spectrometry
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Robot impedance control with nondiagonal stiffness
No full textImpedance control is a widely adopted strategy to execute tasks involving interaction of a robot manipulator with the environment. The goal: is to impose an end-effector dynamic behavior described by a mechanical impedance. A crucial point is the definition of the elastic contribution in the impedance equation according to the task requirements; this is achieved by a proper choice of the equivalent stiffness matrix. In this paper an energy-based argument is used to derive the dynamic equation of a mechanical impedance characterized by a translational part and a rotational part. The adoption of unit quaternions to describe orientation displacements leads to a geometrically consistent definition of the stiffness in the impedance equation. Remarkably, off-diagonal elements in the equivalent stiffness matrix are considered; namely, coupling forces with orientation displacements and coupling moments with position displacements. The equilibrium and the stability of the impedance equation are discussed as well as the geometric properties of the stiffness matrix
The role of Euler parameters in robot control
No full textEuler parameters constitute a well-known nonminimal singularity-free representation of rigid body orientation. This paper is aimed at illustrating the role of Euler parameters in robot control; namely, the kinematic control, dynamic control and impedance control problems are surveyed in a unifying perspective, where robot's end-effector orientation displacements are described in terms of Euler parameters. The advantages over the Euler angles typically used in the operational space framework are demonstrated
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