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IEEE/ASME Transactions on Mechatronics

Issue 4 • Date Dec. 1996

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Displaying Results 1 - 4 of 4
  • Hybrid integrator backstepping control of robotic manipulators driven by brushless DC motors

    Publication Year: 1996, Page(s):266 - 277
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1001 KB)

    In this paper, a hybrid integrator backstepping controller is proposed for robotic manipulators actuated with brushless DC motors in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. The main features are: 1) the design, requiring at most the joint velocities and stator currents feedback; 2) the semiglobal asymptotic stability... View full abstract»

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  • Optical encoders for small drives

    Publication Year: 1996, Page(s):278 - 283
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (631 KB)

    Rotor position and speed information is essential for the control of motors, In fact, several encoders for motors with diameters greater than 13 mm already exist on the market, but most of the solutions are too expensive or unsuitable for smaller applications. Considering the low cost of small drives and their growing number in automation systems, there is a need for encoder solutions which do not... View full abstract»

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  • Hybrid cam mechanisms

    Publication Year: 1996, Page(s):284 - 289
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB)

    This paper investigates the problem of driving a machine with several reciprocating heavy inertias. The drive should also realize some programmable flexibility of the motion, so that the operation of the machine, e,g., synchronization between different motions and duration of standstills, can easily be modified. The use of a single servomotor for every motion is not the best solution, since it doe... View full abstract»

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  • Application of the encapsulated actuator model to the sequential control of machines

    Publication Year: 1996, Page(s):290 - 294
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    This paper proposes a new software design methodology for programmable controllers, using sequential function chart (SFC) and encapsulated actuator model of mechanical actuators. Based on the hybrid programming with SFC and ladder logic diagram (LLD), the part of the LLD is standardized and encapsulated for a description of each actuator's interlocks. To meet the demands of frequent improvement an... View full abstract»

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Aims & Scope

IEEE/ASME Transactions on Mechatronics encompasses all practical aspects of the theory and methods of mechatronics, the synergetic integration of mechanical engineering with electronic and intelligent computer control in the design and manufacture of industrial products and processes.

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Meet Our Editors

Editor-in-Chief
Okyay Kaynak
Department of Electrical and Electronic Engineering
Bogazici University
34342 Istanbul, Turkey
okyay.kaynak@boun.edu.tr