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Proceedings Papers

Particle Swarm Optimization / PID-Computed Torque Control for a Manipulator

Hedieh Badkoobehhezaveh, Reza Fotouhi, Qianwei Zhang

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A048, August 14–17, 2022

Paper No: DETC2022-89769

DOI: https://doi.org/10.1115/DETC2022-89769

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Topics: Manipulators, Particle swarm optimization, Torque control

Proceedings Papers

Direct Torque Control of Electric Current Phase and Frequency in the Permanent-Magnet Synchronous Generator

Erik Chumacero, Aditya Akundi

Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A028, August 14–17, 2022

Paper No: DETC2022-90635

DOI: https://doi.org/10.1115/DETC2022-90635

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Topics: Electric current, Generators, Permanent magnets, Stability, Torque control

Proceedings Papers

Myoelectric Control of Robotic Leg Prostheses and Exoskeletons: A Review

Ali Nasr, Brokoslaw Laschowski, John McPhee

Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A043, August 17–19, 2021

Paper No: DETC2021-69203

DOI: https://doi.org/10.1115/DETC2021-69203

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Topics: Exoskeleton devices, Prostheses, Robotics, Electromyography, Actuators, Algorithms, Control equipment, Control systems, Signals, Adaptive control

Proceedings Papers

Backlash Control via Redundant Drives: An Experimental Verification

Lung-Wen Tsai, Sun-Lai Chang

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Flexible Mechanisms, Dynamics, and Analysis, 1-9, September 13–16, 1992

Paper No: DETC1992-0354

DOI: https://doi.org/10.1115/DETC1992-0354

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Topics: Control equipment, Dynamic models, Engineering prototypes, Gears, Manipulators, Servomechanisms, Torque control

Proceedings Papers

Levitation and Torque Control of PM Synchronous and Induction Type Bearingless Motor

Yohji Okada, Shigenobu Miyamoto, Satoshi Ueno, Tetsuo Ohishi, C. C. Tan

Proc. ASME. DETC97, Volume 1B: 16th Biennial Conference on Mechanical Vibration and Noise, V01BT07A009, September 14–17, 1997

Paper No: DETC97/VIB-4032

DOI: https://doi.org/10.1115/DETC97/VIB-4032

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Topics: Electromagnetic induction, Engines, Levitation, Motors, Torque control, Stress, Magnetic flux, Poles (Building), Rotors, Stators

Proceedings Papers

Modeling of Overactuated Closed-Loop Mechanisms With Singularities: Simulation and Control

Latchezar L. Ganovski, Paul Fisette, Jean-Claude Samin

Proc. ASME. IDETC-CIE2001, Volume 6A: 18th Biennial Conference on Mechanical Vibration and Noise, 207-214, September 9–12, 2001

Paper No: DETC2001/VIB-21324

DOI: https://doi.org/10.1115/DETC2001/VIB-21324

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Topics: Feedforward control, Modeling, Simulation, Control equipment, Trajectories (Physics), Algorithms, Control modeling, Dynamics (Mechanics), Kinematics, Manipulators

Proceedings Papers

Design of a Real-Time Dynamic Test Bench for Testing and Developing a Novel Seamless Two-Speed Transmission for Electric Vehicles

Truong Sinh Nguyen, Jian Song, Shengnan Fang, Haijun Song, Yuzhuo Tai, Fei Li

Proc. ASME. IDETC-CIE2017, Volume 10: 2017 ASME International Power Transmission and Gearing Conference, V010T11A045, August 6–9, 2017

Paper No: DETC2017-67179

DOI: https://doi.org/10.1115/DETC2017-67179

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Topics: Design, Electric vehicles, Testing, Hardware, Simulation, Computer software, Electromagnetic induction, Gears, Industrial research, Matlab

Proceedings Papers

Robust Framework for the Computed Torque Control of Nondeterministic Multibody Dynamic Systems

Sahand Sabet, Mohammad Poursina

Proc. ASME. IDETC-CIE2016, Volume 6: 12th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T09A058, August 21–24, 2016

Paper No: DETC2016-60072

DOI: https://doi.org/10.1115/DETC2016-60072

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Topics: Dynamic systems, Torque control, Uncertainty, Monte Carlo methods, Multibody systems, Polynomials, Robotics, Chaos, Computation, Design

Proceedings Papers

Semi-Active Suspension Suboptimal Control Using Dynamic Programming of a Quarter Car Suspension System

John Dye, Nathan BuchMueller, Hamid Lankarani

Proc. ASME. IDETC-CIE2016, Volume 6: 12th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T09A016, August 21–24, 2016

Paper No: DETC2016-60446

DOI: https://doi.org/10.1115/DETC2016-60446

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Topics: Dynamic programming, Suspension systems, Control equipment, Roads, Damping, Simulation, Automobiles, Vehicle dynamics, Vehicles, Braking

Proceedings Papers

Computed Torque Control of Articulated Multibody Systems in the Generalized Divide and Conquer Algorithm Framework

Cameron Kingsley, Mohammad Poursina

Proc. ASME. IDETC-CIE2015, Volume 8: 27th Conference on Mechanical Vibration and Noise, V008T13A005, August 2–5, 2015

Paper No: DETC2015-46853

DOI: https://doi.org/10.1115/DETC2015-46853

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Topics: Algorithms, Multibody systems, Torque control, Dynamics (Mechanics), Equations of motion, Modeling, Torque

Proceedings Papers

An Individual Wheel Inverse Dynamics-Based Control Algorithm of a UGV in Stochastic Terrain Conditions

Mostafa Salama, Vladimir V. Vantsevich

Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A077, August 17–20, 2014

Paper No: DETC2014-34518

DOI: https://doi.org/10.1115/DETC2014-34518

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Topics: Control algorithms, Dynamics (Mechanics), Wheels, Vehicles, Electric motors, Energy efficiency, Mechanical admittance, Optimization, Stress, Torque

Proceedings Papers

Development of an Electric Vehicle Hardware-in-the-Loop Emulation Platform

Sara Mohon, Arun Venkitakrishnan, Beshah Ayalew, Pierluigi Pisu

Proc. ASME. IDETC-CIE2013, Volume 1: 15th International Conference on Advanced Vehicle Technologies; 10th International Conference on Design Education; 7th International Conference on Micro- and Nanosystems, V001T01A002, August 4–7, 2013

Paper No: DETC2013-12263

DOI: https://doi.org/10.1115/DETC2013-12263

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Topics: Electric vehicles, Hardware, Motors, Simulation, Vehicles, Batteries, Control algorithms, Control equipment, Cycles, Data acquisition systems

Proceedings Papers

Servo-Constraint Based Computed Torque Control of Underactuated Mechanical Systems

La´szlo´ L. Kova´cs, Jo´zsef Ko¨vecses, Ambrus Zelei, La´szlo´ Bencsik, Ga´bor Ste´pan

Proc. ASME. IDETC-CIE2011, Volume 4: 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A and B, 377-382, August 28–31, 2011

Paper No: DETC2011-48533

DOI: https://doi.org/10.1115/DETC2011-48533

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Topics: Servomechanisms, Torque control, Actuators, Computer simulation, Control equipment, Degrees of freedom, Equations of motion, Robots

Proceedings Papers

Concept and Components for Disturbance Decoupling and Energy Harvesting

Kai-Uwe Dettmann, Matthias Marx, Keiwan Kashi, Dirk Nissing, Dirk So¨ffker

Proc. ASME. IDETC-CIE2009, Volume 6: ASME Power Transmission and Gearing Conference; 3rd International Conference on Micro- and Nanosystems; 11th International Conference on Advanced Vehicle and Tire Technologies, 863-868, August 30–September 2, 2009

Paper No: DETC2009-86801

DOI: https://doi.org/10.1115/DETC2009-86801

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Topics: Energy harvesting, Springs, Torque, Torsion, Hydraulic cylinders, Displacement, Electromechanical actuators, Force sensors, Mechanical structures, Modeling

Proceedings Papers

Computed Torque Control Method for Under-Actuated Manipulator

Ambrus Zelei, La´szlo´ L. Kova´cs, Ga´bor Ste´pa´n

Proc. ASME. IDETC-CIE2009, Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C, 523-528, August 30–September 2, 2009

Paper No: DETC2009-86409

DOI: https://doi.org/10.1115/DETC2009-86409

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Topics: Manipulators, Torque control, Actuators, Algebra, Cables, Computer simulation, Control equipment, Cranes, Dynamic analysis, Stress

Proceedings Papers

End-Effector Trajectory Tracking of a Class of Flexible Link Manipulators

Mohammad Vakil, Reza Fotouhi, P. N. Nikiforuk

Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1085-1094, August 3–6, 2008

Paper No: DETC2008-49944

DOI: https://doi.org/10.1115/DETC2008-49944

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Topics: End effectors, Manipulators, Trajectories (Physics), Control equipment, Dynamic models, Torque, Chain, Deflection, Differential equations, Errors

Proceedings Papers

Adaptive Suppression of Torque Harmonics in Brushless Motors

Farhad Aghili

Proc. ASME. IDETC-CIE2007, Volume 4: ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications and the 19th Reliability, Stress Analysis, and Failure Prevention Conference, 275-283, September 4–7, 2007

Paper No: DETC2007-34566

DOI: https://doi.org/10.1115/DETC2007-34566

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Topics: Motors, Torque, Control equipment, Torque control, Modeling, Signals, Stress

Proceedings Papers

Rotational Control of Birefringent Particles Using an Optical Trap

Kurt D. Wulff, Daniel G. Cole, Robert L. Clark

Proc. ASME. IDETC-CIE2007, Volume 3: 19th International Conference on Design Theory and Methodology; 1st International Conference on Micro- and Nanosystems; and 9th International Conference on Advanced Vehicle Tire Technologies, Parts A and B, 785-791, September 4–7, 2007

Paper No: DETC2007-35334

DOI: https://doi.org/10.1115/DETC2007-35334

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Topics: Particulate matter, Rotation, Biology, DNA, Drag (Fluid dynamics), Engines, Feedback, Motors, Polarization (Light), Proteins

Proceedings Papers

Motion of a Tethered System Under Attitude Control With Large Deformation, Rotation and Translation

Shoichiro Takehara, Yoshiaki Terumichi, Masahiro Nohmi, Kiyoshi Sogabe

Proc. ASME. IDETC-CIE2003, Volume 5: 19th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C, 163-169, September 2–6, 2003

Paper No: DETC2003/VIB-48320

DOI: https://doi.org/10.1115/DETC2003/VIB-48320

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Topics: Deformation, Rotation, Wheels, Angular momentum, Deflection, Displacement, Eigenvalues, Finite element methods, Free vibrations, Multibody dynamics

Proceedings Papers

Dynamic Modeling of Multiple Cooperating Manipulators

Y. S. Zhao, Q. C. Li, X. P. Guan, Z. Huang

Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 151-156, September 29–October 2, 2002

Paper No: DETC2002/MECH-34214

DOI: https://doi.org/10.1115/DETC2002/MECH-34214

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Topics: Dynamic modeling, Manipulators, Robots, Stress, Torque control, Virtual work principle

NARROW

Particle Swarm Optimization / PID-Computed Torque Control for a Manipulator

Direct Torque Control of Electric Current Phase and Frequency in the Permanent-Magnet Synchronous Generator

Myoelectric Control of Robotic Leg Prostheses and Exoskeletons: A Review

Backlash Control via Redundant Drives: An Experimental Verification

Levitation and Torque Control of PM Synchronous and Induction Type Bearingless Motor

Modeling of Overactuated Closed-Loop Mechanisms With Singularities: Simulation and Control

Design of a Real-Time Dynamic Test Bench for Testing and Developing a Novel Seamless Two-Speed Transmission for Electric Vehicles

Robust Framework for the Computed Torque Control of Nondeterministic Multibody Dynamic Systems

Semi-Active Suspension Suboptimal Control Using Dynamic Programming of a Quarter Car Suspension System

Computed Torque Control of Articulated Multibody Systems in the Generalized Divide and Conquer Algorithm Framework

An Individual Wheel Inverse Dynamics-Based Control Algorithm of a UGV in Stochastic Terrain Conditions

Development of an Electric Vehicle Hardware-in-the-Loop Emulation Platform

Servo-Constraint Based Computed Torque Control of Underactuated Mechanical Systems

Concept and Components for Disturbance Decoupling and Energy Harvesting

Computed Torque Control Method for Under-Actuated Manipulator

End-Effector Trajectory Tracking of a Class of Flexible Link Manipulators

Adaptive Suppression of Torque Harmonics in Brushless Motors

Rotational Control of Birefringent Particles Using an Optical Trap

Motion of a Tethered System Under Attitude Control With Large Deformation, Rotation and Translation

Dynamic Modeling of Multiple Cooperating Manipulators

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