Matches in SemOpenAlex for { <https://semopenalex.org/work/W811046549> ?p ?o ?g. }
Showing items 1 to 79 of
79
with 100 items per page.
- W811046549 abstract "The thesis examines a way in which the performance of the robot electric actuators can be precisely and accurately force controlled where there is a need for maintaining a stable specified contact force with an external environment. It describes the advantages of the proposed research, which eliminates the need for any external sensors and solely depends on the precise torque control of electric motors. The aim of the research is thus the development of a software based control system and then a proposal for possible inclusion of this control philosophy in existing range of automated manufacturing techniques.The primary aim of the research is to introduce force controlled behaviour in the electric actuators when the robot interacts with the environment, by measuring and controlling the contact forces between them. A software control system is developed and implemented on a robot gantry manipulator to follow two dimensional contours without the explicit geometrical knowledge of those contours. The torque signatures from the electric actuators are monitored and maintained within a desired force band. The secondary aim is the optimal design of the software controller structure. Experiments are performed and the mathematical model is validated against conventional Proportional Integral Derivative (PID) control. Fuzzy control is introduced in the software architecture to incorporate a sophisticated control. Investigation is carried out with the combination of PID and Fuzzy logic which depend on the geometrical complexity of the external environment to achieve the expected results." @default.
- W811046549 created "2016-06-24" @default.
- W811046549 creator A5019468687 @default.
- W811046549 date "2014-10-01" @default.
- W811046549 modified "2023-09-26" @default.
- W811046549 title "Control of the interaction of a gantry robot end effector with the environment by the adaptive behaviour of its joint drive actuators" @default.
- W811046549 hasPublicationYear "2014" @default.
- W811046549 type Work @default.
- W811046549 sameAs 811046549 @default.
- W811046549 citedByCount "0" @default.
- W811046549 crossrefType "dissertation" @default.
- W811046549 hasAuthorship W811046549A5019468687 @default.
- W811046549 hasConcept C119599485 @default.
- W811046549 hasConcept C121332964 @default.
- W811046549 hasConcept C127413603 @default.
- W811046549 hasConcept C133731056 @default.
- W811046549 hasConcept C144171764 @default.
- W811046549 hasConcept C154945302 @default.
- W811046549 hasConcept C172707124 @default.
- W811046549 hasConcept C199360897 @default.
- W811046549 hasConcept C203479927 @default.
- W811046549 hasConcept C2775924081 @default.
- W811046549 hasConcept C2777904410 @default.
- W811046549 hasConcept C41008148 @default.
- W811046549 hasConcept C47116090 @default.
- W811046549 hasConcept C47446073 @default.
- W811046549 hasConcept C536315585 @default.
- W811046549 hasConcept C58166 @default.
- W811046549 hasConcept C6557445 @default.
- W811046549 hasConcept C86803240 @default.
- W811046549 hasConcept C90509273 @default.
- W811046549 hasConcept C97355855 @default.
- W811046549 hasConceptScore W811046549C119599485 @default.
- W811046549 hasConceptScore W811046549C121332964 @default.
- W811046549 hasConceptScore W811046549C127413603 @default.
- W811046549 hasConceptScore W811046549C133731056 @default.
- W811046549 hasConceptScore W811046549C144171764 @default.
- W811046549 hasConceptScore W811046549C154945302 @default.
- W811046549 hasConceptScore W811046549C172707124 @default.
- W811046549 hasConceptScore W811046549C199360897 @default.
- W811046549 hasConceptScore W811046549C203479927 @default.
- W811046549 hasConceptScore W811046549C2775924081 @default.
- W811046549 hasConceptScore W811046549C2777904410 @default.
- W811046549 hasConceptScore W811046549C41008148 @default.
- W811046549 hasConceptScore W811046549C47116090 @default.
- W811046549 hasConceptScore W811046549C47446073 @default.
- W811046549 hasConceptScore W811046549C536315585 @default.
- W811046549 hasConceptScore W811046549C58166 @default.
- W811046549 hasConceptScore W811046549C6557445 @default.
- W811046549 hasConceptScore W811046549C86803240 @default.
- W811046549 hasConceptScore W811046549C90509273 @default.
- W811046549 hasConceptScore W811046549C97355855 @default.
- W811046549 hasLocation W8110465491 @default.
- W811046549 hasOpenAccess W811046549 @default.
- W811046549 hasPrimaryLocation W8110465491 @default.
- W811046549 hasRelatedWork W1489941234 @default.
- W811046549 hasRelatedWork W1601095593 @default.
- W811046549 hasRelatedWork W2084243206 @default.
- W811046549 hasRelatedWork W2118102351 @default.
- W811046549 hasRelatedWork W2121229926 @default.
- W811046549 hasRelatedWork W2326867559 @default.
- W811046549 hasRelatedWork W2610188257 @default.
- W811046549 hasRelatedWork W2618419825 @default.
- W811046549 hasRelatedWork W2769915566 @default.
- W811046549 hasRelatedWork W2771833700 @default.
- W811046549 hasRelatedWork W2886635598 @default.
- W811046549 hasRelatedWork W2888193176 @default.
- W811046549 hasRelatedWork W2896456313 @default.
- W811046549 hasRelatedWork W2897172361 @default.
- W811046549 hasRelatedWork W3093192617 @default.
- W811046549 hasRelatedWork W3132747462 @default.
- W811046549 hasRelatedWork W94265706 @default.
- W811046549 hasRelatedWork W2154196061 @default.
- W811046549 hasRelatedWork W2186058575 @default.
- W811046549 hasRelatedWork W2849789098 @default.
- W811046549 isParatext "false" @default.
- W811046549 isRetracted "false" @default.
- W811046549 magId "811046549" @default.
- W811046549 workType "dissertation" @default.