Majority of industrial robots are controlled by a simple independent joint control of joint actuators rather than complex controllers based on the nonlinear dynamic model of the robot manipulator. In this independent joint control scheme, the performance of actuator control is influenced significantly by the joint disturbance torques including gravity, Coriolis and centrifugal torques, which re...

The design of drives for high accelerating loads becomes very simple and clear with the fact that the torque– acceleration product is transmitted unchanged by an ideal gear, just like in the case of the torque–speed product (i.e., mechanical power). With this knowledge, it is easy to determine the required rated power and power rate a motor must possess for driving a given load with the specifi...

background: mechanical torque limiting devices (mtlds) are necessary tools to control a peak torque and achieving target values of screw component of dental implants. due to probable effect of autoclaving and number of use on the accuracy of these devices, this study aimed to evaluate the effect of sterilization and number of use on the accuracy of friction-style mechanical torque limiting devi...

We assume a differential drive mobile robot: two unsteered coaxial wheels are independently actuated. Each wheel has bounded velocity, but no bound on torque or acceleration. Pontryagin’s Maximum Principle gives an elegant description of the extremal trajectories, which are a superset of the time optimal trajectories. Further analysis gives an enumeration of the time optimal trajectories, and m...

The focus of this paper is the control strategy used to control general parallel hybrid electric vehicles (HEV). The torque split control problem of HEV is formulated as the optimal control of a switched system. A model-based strategy for fuel-optimal control is presented. The optimal control problem of such a switched system is formulated as a two-stage optimization problem. Dynamic programmin...

We quantify how the hip energetics and knee torque required for an above-knee prosthesis user to walk with the kinematics of able-bodied humans vary with the inertial properties of the prosthesis. We also select and optimize passive mechanical components for a prosthetic knee to accurately reproduce the required knee torque. Previous theoretical studies have typically investigated the effects o...

The reasons why using the arms can increase standing vertical jump height are investigated by computer simulations. The human models consist of four/five segments connected by frictionless joints. The head-trunk-arms act as a fourth segment in the first model while the arms become a fifth segment in the second model. Planar model movement is actuated by joint torque generators. Each joint torqu...

This paper describes the development of a tool for automatic generation of optimal power management strategies. Given the user inputs, which are dynamic vehicle model, driving cycle and optimization criterion, the tool first produces a simplified powertrain model in the form of static maps, before dynamic programming is used to find an optimal torque split which minimizes the chosen criterion. ...

in direct torque control, the selection of an applied voltage vector is based on the measuredparameters at the beginning of the sampling period. the delay between the measurement and the application of the voltage vector is the origin of an extra torque ripple. in this paper, a new predictive controller is proposed for compensating this delay and reducing the torque ripple. the stator current i...