Dspe Conference 2016 Catalogue
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Modeling and Identification for High-Performance Robot Control
904 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 12, NO. 6, NOVEMBER 2004 Modeling and Identification for High-Performance Robot Control: An RRR-Robotic Arm Case Study Dragan Kostic´, Student Member, IEEE, Bram de Jager, Maarten Steinbuch, Senior Member, IEEE, and Ron Hensen Abstract—This paper explains a procedure for getting models parameters; and 4) deducing to what extent the model covers of robot kinematics and dynamics that are appropriate for robot the real robot dynamics, and, if needed for high-performance control design. The procedure consists of the following steps: control, identification of the dynamics not covered with the 1) derivation of robot kinematic and dynamic models and estab- lishing correctness of their structures; 2) experimental estimation derived model. Better quality resulting from each of these of the model parameters; 3) model validation; and 4) identification steps contributes to better performance of robot control. of the remaining robot dynamics, not covered with the derived In the paper, we suggest a procedure one may apply to suc- model. We give particular attention to the design of identification cessfully complete all the steps listed above. As it leads to robot experiments and to online reconstruction of state coordinates, as models appropriate for high-performance control, the procedure these strongly influence the quality of the estimation process. The looks quite appealing for use in practice. Its theoretical foun- importance of correct friction modeling and the estimation of fric- tion parameters are illuminated. The models of robot kinematics dation is already well-known and is sufficiently elaborated in and dynamics can be used in model-based nonlinear control. -
Advance Publication IEEJ Journal of Industry Applications J-STAGE Advance Published Date : Aug
Advance Publication IEEJ Journal of Industry Applications J-STAGE Advance published date : Aug. 6, 2021 DOI : 10.1541/ieejjia.21006010 Invited Paper Motion Control, Mechatronics Design, and Moore’s Law Maarten Steinbuch∗a) Non-member, Tom Oomen∗ Non-member Hans Vermeulen∗∗;∗ Non-member Technology in a broad sense is driven by developments in semiconductor technology, particularly with respect to the computational power of devices and systems, as well as sensor technology. The progress of semiconductor tech- nology has demonstrated an exponential curve since the middle of the previous century, representing Moore’s Law. Consequently, it is of utmost importance to bridge the gaps between disciplines in the fields of control, automation, and robotics. Moreover, data-driven approaches need to be combined with model-based design. This will lead to new digital twinning and automated design approaches that provide major opportunities. Furthermore, this necessitates the redefinition of our university system. Keywords: Lithography, Motion control, Learning Control, Mechatronics, Moore’s Law, University 4.0 1. Introduction The Sustainable Development Goals (SDGs) formulated by the United Nations pose researchers and engineers world- wide with new challenges and partly redirect and focus re- search and innovation. Without hesitation one could say that technology in general and computing power in particular are instrumental for the solutions to be found. IC (Integrated Cir- cuit) technology determines both computational power of de- vices and systems, as well as sensor technology. Coming decade we will see a tremendous acceleration of smart sys- tems entering almost all aspects of human life and affecting the SDGs: e.g. our health care (1), our mobility (2), our energy (5) systems and climate, our work, our mobile devices. -
Feedback Oriented Identification for Enhanced and Robust Control
Feedback Oriented Identification for Enhanced and Robust Control a fractional approach applied to a wafer stage Raymond de Callafon Feedback Oriented Identification for Enhanced and Robust Control a fractional approach applied to a wafer stage Feedback Oriented Identification for Enhanced and Robust Control a fractional approach applied to a wafer stage PROEFSCHRIFT ter verkrijging van de graad van doctor aan de Technische Universiteit Delft, op gezag van de Rector Magnificus prof. ir K.F. Wakker, in het openbaar te verdedigen ten overstaan van een commissie, door het College voor Promoties aangewezen, op dinsdag 13 oktober 1998 te 10:30 uur door Raymond Arnoud DE CALLAFON werktuigkundig ingenieur geboren te Rotterdam Dit proefschrift is goedgekeurd door de promotor: Prof. ir O.H. Bosgra Toegevoegd promotor: Dr ir P.M.J. Van den Hof Samenstelling promotiecommissie: Rector Magnificus, voorzitter Prof. ir O.H. Bosgra, Technische Universiteit Delft, promotor Dr ir P.M.J. Van den Hof, Technische Universiteit Delft, toegevoegd promotor Prof. M. Gevers, Universit´e Catholique de Louvain Prof. dr ir H. Kwakernaak, Universiteit Twente Prof. dr Olsder, Technische Universiteit Delft Prof. R.E. Skelton, University of California, San Diego Dr ir M. Steinbuch, Philips Published and distibuted by: Delft University Press Mekelweg 4 2628 CD, Delft The Netherlands Telephone: +31 15 2783254 Telefax: +31 15 2781661 Email: [email protected] ISBN 90–407–1759–1 NUGI 841 Copyright c 1998 by R.A. de Callafon All rights reserved. No part of the material protected by this copyright notice may be reproduced or utilized in any form or by any means, electronic or mechanical, includ- ing photocopying, recording or by any information storage and retrieval system, without permission from the publisher: Delft University Press. -
Lifesciences Mission 4 Motors for Europe 18 February 2019, 19 February 2019, 20 February 2019
LifeSciences Mission 4 Motors for Europe 18 February 2019, 19 February 2019, 20 February 2019 Cont act inf ormat ion: Mrs Agaath Hulzebos, NBSO- Germany/Stuttgart E: hulzebos@nbso- stuttgart.de Mr Mark Koppers, Senior Project Manager International Business, BOM Foreign Investments M: +31 6 5424 4132 | E: [email protected] Mr Martijn Schol, Program Manager Internationalisation, InnovationQuarter M: +31 6 1813 5871 | E: [email protected] Ms Mirjam Mulder, Deputy Representative / Keyuser, NBSO- Germany/Stuttgart E: mulder@nbso- stuttgart.de Mr Tim Franken, Business Developer Internationalisation, InnovationQuarter E: [email protected] 1/8 Monday 18 February 2019 16:00 - 16:15 Arrival at the provincial headquarters Noord- Brabantlaan 1, Den Bosch Brabant 16:15 - 17:45 Roundtable conference on European collaboration on innovative technology. 17:45 - 18:00 Transfer to Den Bosch city hall Markt 1, 5211 KA 's- Hertogenbosch 18:00 - 21:00 Reception at the Den Bosch city hall Markt 1, 5211 KA 's- Hertogenbosch Tuesday 19 February 2019 08:30 - 09:00 Transfer Kanaaldijk 29, 5683 CR Best 09:00 - 09:30 Introduction Brabant life sciences cluster and Partners in International Business Program Medizintechnik Holland: high- tech supplier’s network in the Brainport Eindhoven region cooperating on entering new international markets. 09:30 - 10:45 Company visit to Demcon, high- end technology Kanaaldijk 29, 5683 CR Best supplier of products and systems, with as focus areas high- tech, medical, embedded, optomechatronic, unmanned and industrial systems & visions. Demcon develops and realizes medical devices and systems for diagnosis, therapy, cure and selfcare. Applications: surgery, therapy and diagnostics.