Time-optimal computed-torque control in contact transitions
  • Metaadatok
Tartalom: https://pp.bme.hu/me/article/view/1231
Archívum: PP Mechanical Engineering
Gyűjtemény: Articles
Cím:
Time-optimal computed-torque control in contact transitions
Létrehozó:
Magyar, Bálint
Stépán, Gábor
Kiadó:
Budapest University of Technology and Economics
Dátum:
2012-01-01
Téma:
contact transition; piecewise-linear system; computed-torque; bang-bang
Tartalmi leírás:
The simple mechanical model of an approach-and-touch control procedure is discussed. The aim is to find an appropriate control strategy to approach the target surface, handle the contact transitions and apply the desired force on the contact surface. In the control loop, position and force feedback is present; the absolute position of the target surface is only available for the controller with limited accuracy.
Nyelv:
angol
Típus:
info:eu-repo/semantics/article
Peer-reviewed Article
info:eu-repo/semantics/publishedVersion
Formátum:
application/pdf
Azonosító:
10.3311/pp.me.2012-1.07
Forrás:
Periodica Polytechnica Mechanical Engineering; Vol. 56, No. 1 (2012); 43-47
Kapcsolat:
Létrehozó:
Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access). As soon as the paper is accepted, finally submitted and edited, the npaper will appear in the "OnlineFirst" page of the journal, thus from this point no other internet-based publication is necessary.