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Proceedings Papers

Dynamic Modeling and Robust Torque Control of a Discrete Variable Stiffness Actuator

Ziqing Yu, Jiaming Fu, Bin Yao, George Chiu, Richard Voyles, Dongming Gan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A058, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115235
https://doi.org/10.1115/DETC2023-115235
View Paper titled, Dynamic Modeling and Robust Torque Control of a Discrete Variable Stiffness Actuator
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Topics: Actuators, Dynamic modeling, Dynamic models, Gain scheduling, Robust control, Stiffness, Torque control, Control algorithms, Robots, Force control
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89769
https://doi.org/10.1115/DETC2022-89769
View Paper titled, Particle Swarm Optimization / PID-Computed Torque Control for a Manipulator
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90635
https://doi.org/10.1115/DETC2022-90635
View Paper titled, Direct Torque Control of Electric Current Phase and Frequency in the Permanent-Magnet Synchronous Generator
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69203
https://doi.org/10.1115/DETC2021-69203
View Paper titled, Myoelectric Control of Robotic Leg Prostheses and Exoskeletons: A Review
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0354
https://doi.org/10.1115/DETC1992-0354
View Paper titled, Backlash Control via Redundant Drives: An Experimental Verification
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC97/VIB-4032
https://doi.org/10.1115/DETC97/VIB-4032
View Paper titled, Levitation and Torque Control of PM Synchronous and Induction Type Bearingless Motor
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2001/VIB-21324
https://doi.org/10.1115/DETC2001/VIB-21324
View Paper titled, Modeling of Overactuated Closed-Loop Mechanisms With Singularities: Simulation and Control
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67179
https://doi.org/10.1115/DETC2017-67179
View Paper titled, Design of a Real-Time Dynamic Test Bench for Testing and Developing a Novel Seamless Two-Speed Transmission for Electric Vehicles
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-60072
https://doi.org/10.1115/DETC2016-60072
View Paper titled, Robust Framework for the Computed Torque Control of Nondeterministic Multibody Dynamic Systems
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-60446
https://doi.org/10.1115/DETC2016-60446
View Paper titled, Semi-Active Suspension Suboptimal Control Using Dynamic Programming of a Quarter Car Suspension System
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46853
https://doi.org/10.1115/DETC2015-46853
View Paper titled, Computed Torque Control of Articulated Multibody Systems in the Generalized Divide and Conquer Algorithm Framework
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34518
https://doi.org/10.1115/DETC2014-34518
View Paper titled, An Individual Wheel Inverse Dynamics-Based Control Algorithm of a UGV in Stochastic Terrain Conditions
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12263
https://doi.org/10.1115/DETC2013-12263
View Paper titled, Development of an Electric Vehicle Hardware-in-the-Loop Emulation Platform
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-48533
https://doi.org/10.1115/DETC2011-48533
View Paper titled, Servo-Constraint Based Computed Torque Control of Underactuated Mechanical Systems
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86801
https://doi.org/10.1115/DETC2009-86801
View Paper titled, Concept and Components for Disturbance Decoupling and Energy Harvesting
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86409
https://doi.org/10.1115/DETC2009-86409
View Paper titled, Computed Torque Control Method for Under-Actuated Manipulator
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49944
https://doi.org/10.1115/DETC2008-49944
View Paper titled, End-Effector Trajectory Tracking of a Class of Flexible Link Manipulators
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Topics: End effectors, Manipulators, Trajectories (Physics), Control equipment, Dynamic models, Torque, Chain, Deflection, Differential equations, Errors
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35334
https://doi.org/10.1115/DETC2007-35334
View Paper titled, Rotational Control of Birefringent Particles Using an Optical Trap
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Topics: Particulate matter, Rotation, Biology, DNA, Drag (Fluid dynamics), Engines, Feedback, Motors, Polarization (Light), Proteins
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34566
https://doi.org/10.1115/DETC2007-34566
View Paper titled, Adaptive Suppression of Torque Harmonics in Brushless Motors
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Topics: Motors, Torque, Control equipment, Torque control, Modeling, Signals, Stress
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2003/VIB-48320
https://doi.org/10.1115/DETC2003/VIB-48320
View Paper titled, Motion of a Tethered System Under Attitude Control With Large Deformation, Rotation and Translation
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Topics: Deformation, Rotation, Wheels, Angular momentum, Deflection, Displacement, Eigenvalues, Finite element methods, Free vibrations, Multibody dynamics