Design of a Spatial Linkage Haptic Interface

2004 ◽  
Author(s):  
John Ryan Steger ◽  
Ronald M. Chung ◽  
Kevin Lin ◽  
Homayoon Kazerooni
Keyword(s):  
Digital Signal Processor ◽  
Digital Signal ◽  
High Strength ◽  
Haptic Interface ◽  
High Fidelity ◽  
Control Electronics ◽  
Embedded Pc ◽  
Three Degree Of Freedom ◽  
Haptic Simulation ◽  
And Control

This paper describes the mechanical and electrical design of a compact high fidelity desktop haptic interface that provides three-degree-of-freedom point-force interaction through a handheld pen-like stylus. The complete haptic device combines a spatial linkage, actuation, power amplification, and control electronics in a standalone package with a footprint similar to that of a notebook computer (33cm × 25cm × 10cm). The procedure used to design the statically balanced spatial linkage is explained and both an inexpensive lightweight plastic version and a high stiffness, high strength, aluminum and stainless steel version are presented. The theory and implementation of sinusoidal encoder interpolation and sinusoidal servo-motor commutation used to achieve high-fidelity haptic simulation is covered for two versions of electronic control hardware: custom hardware based on a digital signal processor (DSP) and an off-the-shelf design based on an embedded PC.

Design of a Passively Balanced Spatial Linkage Haptic Interface

2004 ◽  
Vol 126 (6) ◽  
pp. 984-991 ◽  
Author(s):  
R. Steger ◽  
K. Lin ◽  
B. D. Adelstein ◽  
H. Kazerooni
Keyword(s):  
Mass Production ◽  
Haptic Interface ◽  
High Fidelity ◽  
Force Interaction ◽  
Design And Implementation ◽  
Power Amplification ◽  
Control Electronics ◽  
Three Degree Of Freedom ◽  
And Control ◽  
Actuation Power

This paper describes the design and implementation of a compact high fidelity desktop haptic interface that provides three-degree-of-freedom point-force interaction through a handheld pen-like stylus. The complete haptic device combines a spatial linkage, actuation, power amplification, and control electronics in a standalone package with a footprint similar to that of a notebook computer 33cm×25cm×10cm. The spatial linkage is composed of one planar and two spherical subloops. Two versions of the spatial linkage were designed: a lightweight polycarbonate plastic version suitable for inexpensive mass production, and an aluminum and stainless steel linkage that offers greater reliability and higher stiffness. Both linkages were designed to be statically balanced over their full workspace.

scholarly journals Modeling and stabilization of eccentric gravity machinery

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401775178
Author(s):  
Wu-Sung Yao
Keyword(s):  
Control System ◽  
Digital Signal Processor ◽  
Repetitive Control ◽  
Electric Energy ◽  
Digital Signal ◽  
Control Performance ◽  
Velocity Control ◽  
Stability Performance ◽  
The Stability ◽  
And Control

In general, eccentric gravity machinery is a rotation mechanism with eccentric pendulum mechanism, which can be used to convert continuously kinetic energy generated by gravity energy to electric energy. However, a stable rotated velocity of the eccentric gravity machinery is difficult to be achieved only using gravity energy. In this article, a stable velocity control system applied to eccentric gravity machinery is proposed. The dynamic characteristic of eccentric gravity machinery is analyzed and its mathematical model is established, which is used to design the controller. A stable running velocity of the eccentric gravity machinery can be operated by the controlled servomotor. Due to disturbances being periodic, repetitive controller is installed to velocity control loop. The stability performance and control performance of the repetitive control system are discussed. The iterative algorithm of the repetitive control is executed by a digital signal processor TI TMS320C32 floating-point processor. Simulated and experimental results are reported to verify the performance of the proposed eccentric gravity machinery control system.

scholarly journals Detection and control of a gyroscopically induced vibration to improve the balance of a single-wheel robot

2017 ◽  
Vol 37 (3) ◽  
pp. 443-455 ◽  
Author(s):  
Sangdeok Lee ◽  
Seul Jung
Keyword(s):  
Digital Signal Processor ◽  
High Speed ◽  
Balance Control ◽  
A Priori ◽  
Experimental Studies ◽  
Notch Filter ◽  
Digital Signal ◽  
Control Performance ◽  
And Control ◽  
Balancing Control

In this article, an experimental investigation of the detection of a gyroscopically induced vibration and the balancing control performance of a single-wheel robot is presented. The balance of the single-wheel robot was intended to be maintained by virtue of the gyroscopic effect induced from a highly rotating flywheel. Since the flywheel rotates at a high speed, an asymmetrical structure of a flywheel causes an irregular rotation and becomes one of the major vibration sources. A vibration was detected and suppressed a priori before applying control algorithms to the robot. Gyroscopically induced vibrations can empirically be detected with different rotational velocities. The detection of the balancing angle of the single-wheel robot was accomplished by using an attitude and heading reference system. After identifying the vibrating frequencies, a notch filter was designed to suppress the vibration at the typical frequencies identified through experiments. A digital filter was designed and implemented in a digital signal processor(DSP) along with the control scheme for the balance control performance. The performance of the proposed method was verified by the experimental studies on the balancing control of the single-wheel robot. Experimental results confirmed that the notch filter designed following the detection of the flywheel’s vibration actually improved the balancing control performance. A half of the vibration magnitude was reduced by the proposal.

The Design of an Intelligent EEG Monitoring and Control System

2014 ◽  
Vol 598 ◽  
pp. 583-586
Author(s):  
Ping Wang ◽  
Gui Zhi Xu ◽  
Lei Wang ◽  
Cheng Long Liu
Keyword(s):  
Control System ◽  
Digital Signal Processor ◽  
Digital Signal ◽  
Eeg Monitoring ◽  
Monitoring And Control ◽  
Sleep State ◽  
Monitoring And Control System ◽  
Dry Electrode ◽  
Eyes Open ◽  
And Control

The core device of our system is a handheld EEG monitoring analyzer, which is based on a new DSP (Digital Signal Processor) control system. The DSP is based on a Think-Gear module and collects the EEG signals reliably. The system only uses a dry electrode, which ensures that the user can have a happy experience in daily life. Our main purpose is that we can provide a hardware prototype with the application of BCI (Brain-Computer Interface).The system can monitor the sleep process accurately and distinguish the eyes open or closed state, sleep state and the degree of relaxation.

The Based On Digital Signal Processor Power Source With Reversible Output Synchronous Rectifier

2015 ◽  
Vol 10 (2) ◽  
pp. 10-17
Author(s):  
Dmitriy Senkov ◽  
Dmitriy Pureskin ◽  
Anatoliy Medvedko
Keyword(s):  
Digital Signal Processor ◽  
Output Voltage ◽  
Digital Signal ◽  
Power Source ◽  
Power Converter ◽  
Control Algorithms ◽  
Storage Capacitor ◽  
Energy Recuperation ◽  
Synchronous Rectifier ◽  
And Control

There are the structure and control algorithms 10kW power source with 25 kHz converter and output synchronous rectifier shown in the article. The output voltage or current of power source has controlled waveform with 1 kHz maximal frequency. The output voltage is galvanically isolated from mains. The source design allows using the load’s energy recuperation in the power converter storage capacitor and soft switching in the synchronous rectifier. The article shows the application of power source as 400 Hz waveform regulated sinusoidal voltage generator.

scholarly journals Implementation of a Fault-Tolerant AC/DC Converter for Permanent Magnet Synchronous Motor Drive Systems

2021 ◽  
Vol 2 ◽  
Author(s):  
Tian-Hua Liu ◽  
Yu-Wei Wang
Keyword(s):  
Fault Detection ◽  
Digital Signal Processor ◽  
Fault Tolerant ◽  
Permanent Magnet Synchronous Motor ◽  
Digital Signal ◽  
Drive System ◽  
Motor Drive ◽  
Bridge Rectifier ◽  
Drive Systems ◽  
And Control

Fault tolerant drive systems have played an increasing role for electric vehicles in order to improve reliability, availability, and to reduce maintenance. For safety reason, a fault-tolerant drive system, which includes some redundant devices and a traditional motor drive system, has been developed. This fault-tolerant system executes real-time fault detection, diagnosis, isolation, and control to make the fault-tolerant drive system operate normally even though some faults have happened. In this paper, an AC/DC converter faults, which includes a single-phase full-bridge rectifier diode fault, a three-phase full-bridge rectifier diode fault, and a DC-link capacitor fault are investigated. The fault-tolerant processes include fault detection, diagnosis, isolation, and control to improve the reliability of the drive system and reduce the disturbances during faulty interval. A digital signal processor, manufactured by Texas Instruments, type TMS320F2808, is used as a control center to achieve the fault tolerant processes. Experimental results validate theoretical analysis to demonstrate the correctness and feasibility of the proposed methods. The proposed method can be easily implemented in industrial products due to its simplicity.

Design and Control of a 6-DOF Positioner With High Precision

2003 ◽  
Author(s):  
Wong-Jong Kim ◽  
Tiejun Hu ◽  
Nikhil Bhat
Keyword(s):  
High Precision ◽  
Digital Signal Processor ◽  
Maximum Velocity ◽  
Digital Signal ◽  
Position Resolution ◽  
Manufacturing Applications ◽  
Force Components ◽  
20 Nm ◽  
And Control ◽  
Matrix Base

This paper presents the design and construction of a 6-degree-of-freedom (6-DOF) multi-dimensional positioner. This positioner is based on a novel concentrated-field magnet matrix, and its electromagnetic operational principle is presented. This high-precision positioning system consists of a magnet-matrix base and a triangular single-moving platen that carries three 3-phase permanent-magnet linear levitation motor stators. With a combination of six independent force components, the moving platen can generate any 6-DOF motion. Three aerostatic bearings are used to provide the suspension force against gravity for the system. We designed and implemented digital lead-lag controllers running on a digital signal processor (DSP). Currently, the positioner has a position resolution of 20 nm and position noise of 10 nm rms. The planar traveling range is 160 mm × 160 mm and the maximum velocity achieved so far is 0.5 m/s with 5-m/s2 acceleration in the y-direction, which is highly suitable for semiconductor manufacturing applications. Several 2-dimensional motion profiles are presented to demonstrate the stage’s capability of accurately tracking any extended planar paths.

An Integrated Lattice Filter Adaptive Control System for Time-Varying CMM Structural Vibration Control, Part 2: Experimental Implementation

1996 ◽  
Vol 118 (1) ◽  
pp. 77-87
Author(s):  
E. Lu ◽  
J. Ni ◽  
Z. G. Huang ◽  
S. M. Wu
Keyword(s):  
Adaptive Control ◽  
Digital Signal Processor ◽  
Coordinate Measuring Machine ◽  
Digital Signal ◽  
Structural Vibration ◽  
Time Varying ◽  
Lattice Filter ◽  
Experimental Implementation ◽  
Measuring Machine ◽  
And Control

The integrated fast lattice filter adaptive control algorithm developed in Part 1 of this paper will be implemented for the control of the structural vibration of a coordinate measuring machine (CMM). The structural vibration of a CMM exhibits time-varying dynamic characteristics. For auxiliary control, the probe head acceleration was measured to compute the voltage input to the servo motor of the CMM. The developed algorithm uses directly the lattice filter parameters to track and control the CMM structural dynamics and is implemented on a Sheffield horizontal arm Coordinate Measuring Machine using a floating point Digital Signal Processor TMS320C30. Through experiments, significant reduction of the CMM settling time has been achieved by suppressing the structural vibration. In certain configurations, the reduction was 95 percent.

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