The band structure of a phononic crystal can be controlled by tuning the mechanical stiffness links connecting its constituting elements. first implementation with adaptive connectivity is obtained using piezoelectric resonators as variable elements, and wave-propagation properties are experimentally characterized.

In this paper we present a new friction model for industrial robot manipulators that takes into account temperature effects. particular, after having shown might change very significantly during operations, two solutions based on polynomial description of the joint are proposed and compared. both cases models do not need measurement temperature, but just environmental so as to be easily applied in industry. Experimental results demonstrate effectiveness methodology.

Summary In this paper, a new model for joint dynamic friction of industrial robot manipulators is presented. particular, the effects temperature in joints are considered. A polynomial-based proposed and parameter estimation performed without need sensor. The use an observer then to compensate uncertainty initial value. large experimental campaign show that model, spite simplifying assumptions made, effective estimating therefore torque during operations, even values velocities have not been...

This paper deals with a modelling technique that takes into account the effects of temperature in joint friction industrial robot manipulators. In particular, it is shown general model can be suitably modified by explicitly considering as parameter. allows to estimate term accurately different operating conditions without direct measurement internal temperature, which makes overall suitable apply practical cases. Experimental results show effectiveness methodology.

In this paper, a Model Predictive Control approach for the velocity control of operator-in-the loop overhead cranes is proposed. The operator can select maximum position overshoot as tuning parameter method. Simulations provide comparison between proposed method and well known Zero Vibration input shaping technique, showing its effectiveness in controlling payload oscillations.

In this paper, a velocity control system for industrial overhead cranes based on Model Predictive Control approach is proposed. The problem of the operator-in-the-loop addressed, as operator drives pushing button while algorithm cart reducing oscillations load. An inner loop used in order to overcome some problems controlling by using directly torque motor variable. Simulations show effectiveness approach, particular presence friction.

In this paper we propose the use of a dynamic model in which effects temperature on friction are considered to develop virtual force sensor for industrial robot manipulators. The estimation inertial parameters and explained. effectiveness has been proven polishing task. fact, interaction forces between environment measured both with common load cell. Moreover, advantages provided by considering dependency highlighted.

Model Predictive Control has been proved to enhance the control performance of overhead cranes. However, in Operator-In-the-Loop (OIL) cranes trajectory payload strongly depends on runtime decisions user and can not be predicted beforehand. Simple assumptions future references evolution have therefore made. In this paper we investigate applicability linear nonlinear MPC strategies case OIL cranes, based different length hoisting cable.

In this paper we present a Hardware-In-the-Loop setup for the simulation of complex mechatronic systems. The consists two coupled brushless motors. One them is motor under test, which used to design control algorithm and test software, while other one simulates device be controlled. Libraries mechanical hydraulic components have been implemented in an IEC61131-3 language so that system can simulated relatively easy way allows rapid prototyping. Practical issues are discussed illustrative...

This article illustrates a model that describes the behaviour of power loss (friction) in mechanical transmissions. The is applied to joints an industrial manipulator, it justified on bases preliminary observations some robot and validated with extensive experimentation commercial 6 degrees freedom anthropomorphic manipulator. paper shows friction decreases increasing temperature which turn depends working cycle proposed permits prediction variation contribution during operations suitable...

In this paper an automatic tuning procedure for a cascade position control architecture of general mechatronic systems is presented. The proposed firstly estimates the transfer function system by analysing its open-loop response to signal specifically designed in order satisfy position, velocity and torque constraints. Then, if present, oscillatory behaviours are detected finding (anti)resonances frequency response. Parametric rules eventually defined PID controllers biquadratic filters....

In this paper we present a simple software tool, designed as game, that can be used to make (especially primary) school students aware of the importance control systems. An overhead crane model is an effective dynamic system show difficulty applying manual in some contexts and how help achieve required performance. addition technical details which has been developed Matlab, overall experience with explained preliminary results its use people without expertise are discussed.

Phononic crystals are structures with discontinuous dispersion relations, such as made of atoms. A. Bergamini and co-workers show on page 1343 that in adaptively augmented phononic crystals, existing bandgaps can be canceled at specific frequencies by modifying the mechanical connectivity unit cell. Photography: Wolfram Raither, ETH Zürich Photo Design: Beat Geyer, Empa Zürich.

In this paper a fast automatic tuning methodology for velocity controllers of mechatronic systems is proposed. order to be applicable in general, the method takes into account position, and torque constraints motion control system it requires minimum intervention operator. Further, can implemented also with small computational capabilities which makes suitable industrial drives. Simulation results show effectiveness technique.

In this paper we present a strategy developed to compensate for multiple sinusoidal disturbances affecting the pressure output of an industrial revamped plastic injection molding machine. The method is based on suitable implementation adaptive feed-forward control technique and has characteristic that it can be added already existing standard structures such as normal feedback structure or cascade one without modifying any part them. Experimental results show allows significant reduction same plant.

In this paper a closed loop automatic tuning procedure for the velocity control of oscillatory mechatronic systems is proposed. The transfer function system estimated relying only on measurements motor side, resonances are identified and biquadratic filters PID controller tuned in order to improve pre-existing by reducing oscillations load side. Experimental results obtained with Hardware-In-the-Loop setup show effectiveness method.