John Michael Acob

Learn More
Keywords: Position domain Dynamic model in position domain PD control Robotic system Contour tracking Stability a b s t r a c t Contour tracking control is one of the fundamental operations for robotic systems. In this paper, a position domain PD control is developed to control a multi-DOF nonlinear robotic system for improving contour tracking performance.(More)
When combined with a piezoelectric actuator, a mechanical amplifier can achieve high resolution and long range motion. In this paper, a previously proposed compliant mechanical amplifier based on a symmetric five bar structure was studied for performance optimization. The amplifier was optimized based on its most significant design parameters with goals of(More)
— One of the most important tasks in robotic applications is trajectory tracking. For such applications it is inherently important that the system obtains a high tracking performance. A widespread control method for trajectory tracking is PD control, which is well-known for its ease of implementation and acceptable tracking performance. However, for tasks(More)
Good tracking performance is very important for trajectory tracking control of robotic systems. In this paper, a new model-free control law, called PD with sliding mode control law or PD–SMC in short, is proposed for trajectory tracking control of multi-degree-of-freedom linear translational robotic systems. The new control law takes the advantages of the(More)
  • 1