Displaying similar documents to “Multibody System Mechanics: Modelling, Stability, Control, and Robustness by V. A. Konoplev and A. Cheremensky”

On the development of SCILAB compatible software for the analysis and control of repetitive processes

Łukasz H. Ładowski, Błażej Cichy, Krzysztof Gałkowski, Eric Rogers (2008)

International Journal of Applied Mathematics and Computer Science

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In this paper further results on the development of a S CILAB compatible software package for the analysis and control of repetitive processes is described. The core of the package consists of a simulation tool which enables the user to inspect the response of a given example to an input, design a control law for stability and/or performance, and also simulate the response of a controlled process to a specified reference signal.

A generalised proportional-derivative force/vision controller for torque-driven planar robotic manipulators

Carlos Vidrios-Serrano, Marco Mendoza, Isela Bonilla, Berenice Maldonado-Fregoso (2020)

Kybernetika

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In this paper, a family of hybrid control algorithms is presented; where it is merged a free camera-calibration image-based control scheme and a direct force controller, both with the same priority level. The aim of this generalised hybrid controller is to regulate the robot-environment interaction into a two-dimensional task-space. The design of the proposed control structure takes into account most of the dynamic effects present in robot manipulators whose inputs are torque signals....