EXPERIMENTAL STUDY OF POSITION-POSITION AND FORCE-POSITION CONTROL METHODS IN TELEOPERATION

2006 ◽  
Vol 39 (16) ◽  
pp. 301-306
Author(s):  
Aline De Greef ◽  
Thomas Delwiche ◽  
Laurent Catoire ◽  
Michel Kinnaert
Keyword(s):  
Experimental Study ◽  
Position Control ◽  
Control Methods

Theoretical and Experimental Study of the Effect of Varying Load on the Dynamics of a P, MRC or P + PID/x Controlled Electrohydraulic Position Servo System

1989 ◽  
Vol 203 (4) ◽  
pp. 267-274 ◽  
Author(s):  
M T Pietola ◽  
M J Vilenius
Keyword(s):  
Experimental Study ◽  
Position Control ◽  
Servo System ◽  
Good Method ◽  
Load Flow ◽  
Control Methods ◽  
Static Properties ◽  
Model Reference Control ◽  
Develop System ◽  
Load Conditions

The effect of varying load conditions on dynamic and static properties of a flexible electrohydraulic position control servo system is investigated theoretically and experimentally in this paper. Three different control methods were used. P control was taken into the research as a reference. P + PID/x; was used because it is a good method of damping the oscillations of flexible servos. Model reference control (MRC) was included as a new possible method of getting good dynamic results. In the mathematic analysis the aim was to develop system models that are not too complicated but still describe well this kind of heavily loaded flexible servo system. The non-linearities included were the dead band and saturation of the valve and the non-linearity of the load flow.

scholarly journals Performance of Plunge Depth Control Methods During Friction Stir Welding

Metals ◽  
2019 ◽  
Vol 9 (3) ◽  
pp. 283 ◽  
Author(s):  
Jinyoung Yoon ◽  
Cheolhee Kim ◽  
Sehun Rhee
Keyword(s):  
Friction Stir Welding ◽  
Position Control ◽  
Longitudinal Direction ◽  
Control Methods ◽  
Friction Stir Lap Welding ◽  
Plunge Depth ◽  
Friction Stir ◽  
Compensation Control ◽  
Depth Control ◽  
Lap Welding

Friction stir welding is a preferred solid state welding process for Al/Fe joints, and in friction stir lap welding, the plunge depth is the most critical parameter for joint strength. We compared three plunge depth control methods, namely conventional position control, offset position control, and deflection compensation control in the friction stir lap welding of 3 mm-thick Al 5083-O alloy over 1.2 mm-thick DP 590 steel. The desired plunge depth was 0.2 mm into the steel sheet. However, the pin did not reach the steel surface under conventional position control due to deflection of the vertical axis of the welding system. In offset position control, an additional offset of 0.35 mm could achieve the desired plunge depth with considerable accuracy. Nevertheless, a gradual increase of the plunge depth along the longitudinal direction was unavoidable, due to an in-situ decrease of the material yield strengths. In deflection compensation control, the deflection is estimated by the coaxially measured plunging force and the force-deflection relationship, and then corrected by feedback control. Thus, the plunge depth is stabilized along the longitudinal direction and is precisely controlled with a 3.3-μm standard deviation of error during the tool traverse phase. There is also a consistent bias of 32 μm caused by the resolution of the measuring system, and it can be easily calibrated in the feedback control system.

scholarly journals Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shanshan Du ◽  
Heping Chen ◽  
Yong Liu ◽  
Runting Hu
Keyword(s):  
Animal Behavior ◽  
Position Control ◽  
Control Method ◽  
Impedance Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Control Methods ◽  
Prior Work ◽  
Control Approach ◽  
Three Dimensional Space

Currently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some prototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment. Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.

scholarly journals PENGARUH METODE PEMBELAJARAN EKLEKTIK TERHADAP HASIL BELAJAR BAHASA ARAB SISWA MADRASAH TSANAWIYAH MA�HAD HADITS AL-JUNAIDIYAH BIRU BONE

2019 ◽  
Vol 12 (2) ◽  
pp. 151-167
Author(s):  
A. FAJAR AWALUDDIN
Keyword(s):  
Experimental Study ◽  
Control Group ◽  
Control Methods ◽  
Learning Method ◽  
Control Group Design ◽  
Learning Achievement ◽  
Group Design ◽  
Research Questions ◽  
Randomized Control ◽  
Conventional Methods

Thisresearch aimsto knowthe effect of learning method towardthe studentsArabicachievementinthe fifth gradeof Islamic Junior HighSchool(Madrasah Tsanawiyah)Al-Junaidiyah Biru Bone for academic year2017/2018. The research questions were: is there any difference in Arabic learning achievement as a whole between a group of students who have been given intiqiyyah methods and another group of students who have been given conventional methods. This research was an experimental study using randomized control group design. The influencing factorial variable is learning methods on Arabic. The Arabic learning achievement was used to know the students? skill or capability Arabic learning. In experimental class, intiqiyyah methods as experiment methods, and conventional methods as control methods. This research concluded that there was any difference between students Arabic achievements of group of students who have been given intiqiyyah methods and group of students who have been given conventional methods.

Experimental Study on Position Control System Using Encoderless Magnetic Motion

2016 ◽  
Vol 40 (1) ◽  
pp. 9-16
Author(s):  
Hong-youn Kim ◽  
Young-Min Yun ◽  
Ho-Keun Shim ◽  
Young-Mok Kwon ◽  
Hoon Heo
Keyword(s):  
Experimental Study ◽  
Control System ◽  
Position Control ◽  
Position Control System
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