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The purpose of this paper is to present a coordinated control strategy for stable walking of biped robot with heterogeneous legs (BRHL), which consists of artificial leg…
The purpose of this paper is to present a coordinated control strategy for stable walking of biped robot with heterogeneous legs (BRHL), which consists of artificial leg (AL) and intelligent bionic leg (IBL).
The original concentrated control in common biped robot system is replaced by a master‐slave dual‐leg coordinated control. P‐type open/closed‐loop iterative learning control is used to realize the time‐varying gait tracking for IBL to AL.
The new control architecture can simplify gait planning scheme of BRHL system with complicated closed‐chain mechanism and mixed driving mode.
Designing and constructing a suitable magneto‐rheological damper can greatly improve the control performance of IBL.
Master‐slave coordination strategy is suitable for BRHL stable walking control.
The concepts and methods of dual‐leg coordination have not been explicitly proposed in single biped robot control research before. Master‐slave coordinated control strategy is suitable for complicated BRHL.
To eliminate the angle deviation of magnetic encoder, this paper aims to propose a compensation method based on permanent magnet synchronous motor (PMSM) sensorless…
To eliminate the angle deviation of magnetic encoder, this paper aims to propose a compensation method based on permanent magnet synchronous motor (PMSM) sensorless control. The paper also describes the experiments performed to verify the validity of this proposed method.
The proposed method uses PMSM sensorless control method to get high precision virtual angle value, and then get the deviation value between virtual position and magnetic angle which is used as compensation table. Oversampling linear interpolation tabulation method has been proposed to eliminate the noise signals. Finally, a magnetic encoder with precision (repeatability) 0.09° and unidirectional motion precision 0.03 is realized. The control system with an encoder running at 14,000 and 0.01 r/min showing high motion resolution is also realized.
Higher value of current in PMSM leads to a magnetic encoder with higher precision. When using oversampling linear interpolation to tabulate the compensation table, it is understood that more oversampling does not lead to a better result. Finally, validated by experiments, using eight intervals to calculate the mean value of angle deviation leads to the best result.
The angle deviation compensation method proposed in this paper has a great practical implication and a good commercial application. The method proposed in this paper could be effectively used to self-correct the magnetic encoder using arctangent method and also correct any rotary encoder sensor.
This paper originally proposes an adaptive correction method for a rotary encoder based on PMSM sensorless control. To eliminate the noise signals in an angle compensation table, over-sampling linear interpolation tabulation method has been proposed which also guarantees the precision of the compensation table.
Studies suggest that official crime statistics are more than a measure of criminal activity. Generated by police, crime figures also reflect the behavior and concerns of…
Studies suggest that official crime statistics are more than a measure of criminal activity. Generated by police, crime figures also reflect the behavior and concerns of police. Our case study renders evidence to this argument. A national survey of the crime recording by police was conducted in China in the late 1980s and early 1990s. The results reveal significant under‐representation of crime in the police‐produced statistics and clearly identify the police as the source of errors. Our study presents the survey and examines the findings. We explore systemic and social factors that affect the underpresentation problem and assess possible impact of the findings on the police’s action in crime recording.