This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

this paper presents the results of the assembly process of a gasketed bolted flanged pipe joint for two different bolt tightening strategies, i.e. asme and industrial using torque control of preload method.  the final clamping force is achieved in four and five passes in asme and industrial strategy respectively. axial bolt stress variation, at the end of each pass, individual bolt bending beha...

This paper describes an approach to force control of two degrees of freedom robot manipulator. Aspects of control implementation concerning a joint torque sensor are discussed and a technique to its correction and calibration is presented. Twolevel control scheme is used for the purposes of easier implementation. Such an approach has proved to be convenient in organizing general control structu...

This paper presents to obtain the state estimations in low speed induction motor using Sensorless Constant Switching Frequency Controller (CSFC) technique. The state estimations referred to flux and torque. Therefore the CSFC enabling Induction motor with Direct Torque Control is built using the MATLAB/SIMULINK. The switching frequency is maintained constant in order to improve its state estima...

Matrix Converters are becoming popular in industrial applications due its better performance than the conventional VSI converters. The advantages of Matrix Converters are bidirectional current flow, adjustable displacement angle and sinusoidal input current and output voltage. Two control schemes used to control the speed of Induction motor. They are Field Oriented Control and Direct Torque Con...