Shyh-Leh Chen

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Basing on a constraint Jacobian induced orthogonal decomposition of the task space and by requiring the force controller to be orthogonal to the constraint manifold, the dynamics of the constrained robots under hybrid control is decomposed into a set of two equations. One describes the motion of robots moving on the constraint manifold, while the other(More)
The purpose of this study is to design an integrated interpolator and contouring controller for a multi-axis motion system. The desired path is described by the nonuniform rational B-spline (NURBS) interpolator. The method of equivalent errors is adopted for the contouring controller. To apply the method of equivalent errors, the desired path in the form of(More)
— This study is concerned with the contouring control of a parallel mechanism, which is a constrained multi-axis motion system. The method of equivalent errors, previously proposed for unconstrained systems, is applied to design a contouring controller for such systems. It is found that the definition of equivalent errors is not affected by constraints.(More)
This work deals with the adaptive imbalance force compensation for a three-pole active magnetic bearing (AMB) system. The adaptive compensation scheme utilizes the method of immersion and invariance (I&I) control. In this study, the stabilized three-pole AMB system with known imbalance is considered as the target system. In practical applications, the(More)