Control Area Expansion Using Null Space Vector Injection Under Current Limit in Magnetic Manipulation System

2018 ◽  
Author(s):  
Jin-Su Hong ◽  
Jung-Ik Ha
Keyword(s):  
Null Space ◽  
Control Area ◽  
Space Vector ◽  
Magnetic Manipulation ◽  
Current Limit ◽  
Manipulation System ◽  
Area Expansion

A RADIAL BASIS FUNCTION NETWORK APPROACH FOR THE COMPUTATION OF INVERSE CONTINUOUS TIME VARIANT FUNCTIONS

2007 ◽  
Vol 17 (03) ◽  
pp. 149-160 ◽  
Author(s):  
RENÉ V. MAYORGA ◽  
JONATHAN CARRERA
Keyword(s):  
Radial Basis Function ◽  
Basis Function ◽  
Continuous Time ◽  
Null Space ◽  
Radial Basis Function Network ◽  
Space Vector ◽  
Sufficiency Condition ◽  
Radial Basis ◽  
Damped Least Squares ◽  
Function Network

This Paper presents an efficient approach for the fast computation of inverse continuous time variant functions with the proper use of Radial Basis Function Networks (RBFNs). The approach is based on implementing RBFNs for computing inverse continuous time variant functions via an overall damped least squares solution that includes a novel null space vector for singularities prevention. The singularities avoidance null space vector is derived from developing a sufficiency condition for singularities prevention that conduces to establish some characterizing matrices and an associated performance index.

Sound power control with virtual microphone method aiming for the control area expansion.

2016 ◽  
Vol 2016.26 (0) ◽  
pp. 115
Author(s):  
Yudai ARAI ◽  
Xun WANG ◽  
Yosuke KOBA ◽  
Satoshi ISHIKAWA ◽  
Shinya KIJIMOTO
Keyword(s):  
Power Control ◽  
Control Area ◽  
Sound Power ◽  
Area Expansion

Optimal torque distribution method for a redundantly actuated 3-RRR parallel robot using a geometrical approach

Robotica ◽  
2012 ◽  
Vol 31 (4) ◽  
pp. 549-554 ◽  
Author(s):  
Ho-Seok Shim ◽  
TaeWon Seo ◽  
Jeh Won Lee
Keyword(s):  
Stiffness Matrix ◽  
Screw Theory ◽  
Null Space ◽  
Geometric Analysis ◽  
Parallel Robot ◽  
Geometrical Approach ◽  
Space Vector ◽  
Distribution Method ◽  
Torque Distribution ◽  
Redundantly Actuated

SUMMARYIn this paper, a novel optimal torque distribution method for a redundantly actuated parallel robot is proposed. Geometric analysis based on screw theory is performed to calculate the stiffness matrix of a redundantly actuated 3-RRR parallel robot. The analysis is performed based on statics focusing on low-speed motions. The stiffness matrix consisting of passive and active stiffness is also derived by the differentiation of Jacobian matrix. Comparing two matrices, we found that null-space vector is related to link geometry. The optimal distribution torque is determined by adapting mean value of minimum and maximum angles as direction angles of null-space vector. The resulting algorithm is validated by comparing the new method with the minimum-norm method and the weighted pseudo-inverse method for two different paths and force conditions. The proposed torque distribution algorithm shows the characteristics of minimizing the maximum torque.

scholarly journals Three-dimensional force microscope: A nanometric optical tracking and magnetic manipulation system for the biomedical sciences

2005 ◽  
Vol 76 (5) ◽  
pp. 053711 ◽  
Author(s):  
J. K. Fisher ◽  
J. R. Cummings ◽  
K. V. Desai ◽  
L. Vicci ◽  
B. Wilde ◽  
...  
Keyword(s):  
Three Dimensional ◽  
Optical Tracking ◽  
Biomedical Sciences ◽  
Magnetic Manipulation ◽  
Manipulation System
Sign in / Sign up

Export Citation Format

Share Document