'Pd control' presentation slideshows

Desired Bode plot shape

Desired Bode plot shape. High low freq gain for steady state tracking Low high freq gain for noise attenuation Sufficient PM near w gc for stability. Want high gain. Use PI or lag control. w gc. High freq Noise immu. w. Mid freq Speed, BW. 0dB. Low freq ess , type.

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Tarek Sobh, Sarosh Patel and Bei Wang School of Engineering University of Bridgeport

Web Enabled Robot Design and Dynamic Control Simulation Software Solutions From Task Points Description. Tarek Sobh, Sarosh Patel and Bei Wang School of Engineering University of Bridgeport. Table of Content. Research Summary Task Point Description Theory The Software Package Results

414 views • 41 slides

Manipulator Control

Introduction to ROBOTICS. Manipulator Control. Jizhong Xiao Department of Electrical Engineering City College of New York jxiao@ccny.cuny.edu. Outline. Homework Highlights Robot Manipulator Control Control Theory Review Joint-level PD Control Computed Torque Method

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Lecture 5: Basic Dynamical Systems

Lecture 5: Basic Dynamical Systems. CS 344R: Robotics Benjamin Kuipers. Dynamical Systems. A dynamical system changes continuously (almost always) according to A controller is defined to change the coupled robot and environment into a desired dynamical system. In One Dimension.

461 views • 26 slides

UNITRONICS

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436 views • 20 slides

Active Insulin Infusion Control of the Blood Glucose Derivative

Active Insulin Infusion Control of the Blood Glucose Derivative. J G Chase, Z-H Lam, J-Y Lee and K-S Hwang University of Canterbury Dept of Mechanical Engineering Christchurch New Zealand ICARCV 2002, Singapore. Silicon + Biology?.

451 views • 18 slides

Introduction to Robotics cpsc - 460

405 views • 17 slides

Control

Control. University of Bridgeport. Introduction to ROBOTICS. 1. Control Problem. Determine the time history of joint inputs required to cause the end-effector to execute a command motion. The joint inputs may be joint forces or torques. Dynamic model.

285 views • 15 slides

Lecture 2

Lecture 2. Review of homework #1 Actuators Motors & Motor Drivers Stepper Motors Linear Actuators Servos Homework #2 is due Wednesday. Lecture 2. Mechatronics. Homework #1 Review. Gantry Machines Big Red CheckerBot RCX Chubby Cylindrical Coordinate Arm CheckersBot

172 views • 5 slides