Position control under simultaneous limited torque and speed of a torque-driven nonlinear rotational mechanism

This paper deals with shaft displacement regulation (position control) of a torque-driven nonlinear gravity unbalanced mechanism under both prescribed bounded torque and speed. This is a novel control objective formulation for mechanisms. A nonlinear dynamic controller to resolve this control formul...

Full description

Saved in:
Bibliographic Details
Published inCogent engineering Vol. 3; no. 1; p. 1192009
Main Authors Salinas, Adriana, Kelly, Rafael, Moreno-Valenzuela, Javier
Format Journal Article
LanguageEnglish
Published Abingdon Cogent 31.12.2016
Taylor & Francis Ltd
Taylor & Francis Group
Subjects
Actuators
bound
control
Controllers
mechanism
Nonlinear control
Nonlinear dynamics
Robot control
Torque
Online AccessGet full text

Cover

More Information
Summary:This paper deals with shaft displacement regulation (position control) of a torque-driven nonlinear gravity unbalanced mechanism under both prescribed bounded torque and speed. This is a novel control objective formulation for mechanisms. A nonlinear dynamic controller to resolve this control formulation is proposed. This controller aims to take care of the actuator/plant by keeping them within a safe operating torque-speed zone. An experimental study complements the proposed theory. Potential applications of the proposed approach are in safe control of robots.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:2331-1916
2331-1916
DOI:10.1080/23311916.2016.1192009