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Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 5 of 5 for “"friction compensation"”.
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Friction compensation using adaptive nonlinear control with persistent excitation
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1997.
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Control of Gantry and Tower Cranes
… velocity, are taken into account. In addition, friction effects are included in the design using a friction-compensation technique. The designed controllers are based on two approaches. In the first approach, a gain-scheduling feedback controller is designed to move the load from point to point …
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Model and control of tendon actuated robots
… is analyzed and the problem of force control and friction compensation is taken into account. The implementation of a tendon based antagonistic actuated robotic arm is then investigated. With this kind of actuation modality, and by using transmission elements with nonlinear force/compression …
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Computer aided design and construction of a multi-point positioning actuator system
… on the inverse function method and an explicit friction compensation with the Coulomb friction model. With the digital control technique, the restrictions in the characteristics of the actuator have been improved significantly.<br/><br/>To get an in-depth insight of the electromagnetic phenomena …
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Ansätze zur entkoppelten Regelung von mechanisch gekoppelten Doppelgelenken eines DLR-Medizinroboters
In dieser Arbeit werden die Methoden zur Modellierung, Identifikation, Regelung und Reibungskompensation von DLR-Medizinrobotern mit elastischen und differentiell getriebenen Gelenken vorgestellt. In der Praxis zeigt sich, dass bei den DLR-Medizinrobotern sowohl die Gelenkelastizität als auch die …