Estimation techniques have been developed for flux observer, rotor position, and speed. The techn... more Estimation techniques have been developed for flux observer, rotor position, and speed. The techniques have a common problem of the offset in voltage-sensor and current-sensor outputs increasing during integration, causing instability. This paper describes an attempt to overcome the problem through estimations of rotor position and speed of a permanent magnet synchronous motor (PMSM) by three methods: with cascaded low pass filter (LPF), with adaptive sensorless rotor flux observer, and with sliding mode observer (SMO). Simulation on Matlab/Simulink validated the proposed method. The advantages and drawbacks of each implementation are discussed.
This paper studies an analytic solution for 6-DOF manipulator of a KUKA KR 5 SIXX R650 robotic ar... more This paper studies an analytic solution for 6-DOF manipulator of a KUKA KR 5 SIXX R650 robotic arm using forward and inverse kinematics in a simple movement process. This paper proposes two points of movement in order to study three types of path motion used in the robotic arm. The three path motions are PTP (pointto-point), linear and circular. The motions are analyzed systemically using forward kinematics and inverse kinematics. The objective of forward kinematic analysis is to determine the cumulative effect of the entire set of joint variables. A simulation oriented analysis is obtained and comparison between simulation and experimental result is done. The result for both simulation and experimental works show close connection for the task. This robot is suitable to be applied to the teaching and training environment.
This paper studies an analytic solution for 6-DOF manipulator of a KUKA KR 5 SIXX R650 robotic ar... more This paper studies an analytic solution for 6-DOF manipulator of a KUKA KR 5 SIXX R650 robotic arm using forward and inverse kinematics in a simple movement process. This paper proposes two points of movement in order to study three types of path motion used in the robotic arm. The three path motions are PTP (pointto-point), linear and circular. The motions are analyzed systemically using forward kinematics and inverse kinematics. The objective of forward kinematic analysis is to determine the cumulative effect of the entire set of joint variables. A simulation oriented analysis is obtained and comparison between simulation and experimental result is done. The result for both simulation and experimental works show close connection for the task. This robot is suitable to be applied to the teaching and training environment.
2009 International Conference for Technical Postgraduates (TECHPOS), 2009
AbstractDirect torque control (DTC) is considered as the best alternative for permanent magnet s... more AbstractDirect torque control (DTC) is considered as the best alternative for permanent magnet synchronous (PMSM) drives. Classic switching-table based DTC has high torque and flux ripple due to the implementation of hysteresis control. Switching frequency can be made ...
2006 4th Student Conference on Research and Development, 2006
This project develops an algorithm to optimize the dynamic performance of an industrial robot wit... more This project develops an algorithm to optimize the dynamic performance of an industrial robot with aid of vision system technology. It consists of three major phases; (1) theoretical, simulation and practical of forward and inverse kinematics for Fanuc LR Mate 200iB robot to determine their D-H parameters, (2) optimization of robot movements, and (3) implementation of practical tasks. The camera is used as a vision sensor to incorporate an intelligent algorithm for the recognition of coordinates of target objects' and to guide the robot to perform certain tasks. The optimization process involves the control of two parameters known as position (ԧ) and speed (Ȧ) of the 3 main axes of the robot. Its forward and inverse kinematics problems will be simulated using Robotic tools of Matlab 7.0 and Roboguide V2.3.2. The simulation results will be compared with the real practical movements. This paper will describe the technique, calculation and method on how the first phase was done.
Direct torque control (DTC) is considered as the best alternative for permanent magnet synchronou... more Direct torque control (DTC) is considered as the best alternative for permanent magnet synchronous (PMSM) drives. Classic switching-table based DTC has high torque and flux ripple due to the implementation of hysteresis control. Switching frequency can be ...
Estimation techniques have been developed for flux observer, rotor position, and speed. The techn... more Estimation techniques have been developed for flux observer, rotor position, and speed. The techniques have a common problem of the offset in voltage-sensor and current-sensor outputs increasing during integration, causing instability. This paper describes an attempt to overcome the problem through estimations of rotor position and speed of a permanent magnet synchronous motor (PMSM) by three methods: with cascaded low pass filter (LPF), with adaptive sensorless rotor flux observer, and with sliding mode observer (SMO). Simulation on Matlab/Simulink validated the proposed method. The advantages and drawbacks of each implementation are discussed.
This paper studies an analytic solution for 6-DOF manipulator of a KUKA KR 5 SIXX R650 robotic ar... more This paper studies an analytic solution for 6-DOF manipulator of a KUKA KR 5 SIXX R650 robotic arm using forward and inverse kinematics in a simple movement process. This paper proposes two points of movement in order to study three types of path motion used in the robotic arm. The three path motions are PTP (pointto-point), linear and circular. The motions are analyzed systemically using forward kinematics and inverse kinematics. The objective of forward kinematic analysis is to determine the cumulative effect of the entire set of joint variables. A simulation oriented analysis is obtained and comparison between simulation and experimental result is done. The result for both simulation and experimental works show close connection for the task. This robot is suitable to be applied to the teaching and training environment.
This paper studies an analytic solution for 6-DOF manipulator of a KUKA KR 5 SIXX R650 robotic ar... more This paper studies an analytic solution for 6-DOF manipulator of a KUKA KR 5 SIXX R650 robotic arm using forward and inverse kinematics in a simple movement process. This paper proposes two points of movement in order to study three types of path motion used in the robotic arm. The three path motions are PTP (pointto-point), linear and circular. The motions are analyzed systemically using forward kinematics and inverse kinematics. The objective of forward kinematic analysis is to determine the cumulative effect of the entire set of joint variables. A simulation oriented analysis is obtained and comparison between simulation and experimental result is done. The result for both simulation and experimental works show close connection for the task. This robot is suitable to be applied to the teaching and training environment.
2009 International Conference for Technical Postgraduates (TECHPOS), 2009
AbstractDirect torque control (DTC) is considered as the best alternative for permanent magnet s... more AbstractDirect torque control (DTC) is considered as the best alternative for permanent magnet synchronous (PMSM) drives. Classic switching-table based DTC has high torque and flux ripple due to the implementation of hysteresis control. Switching frequency can be made ...
2006 4th Student Conference on Research and Development, 2006
This project develops an algorithm to optimize the dynamic performance of an industrial robot wit... more This project develops an algorithm to optimize the dynamic performance of an industrial robot with aid of vision system technology. It consists of three major phases; (1) theoretical, simulation and practical of forward and inverse kinematics for Fanuc LR Mate 200iB robot to determine their D-H parameters, (2) optimization of robot movements, and (3) implementation of practical tasks. The camera is used as a vision sensor to incorporate an intelligent algorithm for the recognition of coordinates of target objects' and to guide the robot to perform certain tasks. The optimization process involves the control of two parameters known as position (ԧ) and speed (Ȧ) of the 3 main axes of the robot. Its forward and inverse kinematics problems will be simulated using Robotic tools of Matlab 7.0 and Roboguide V2.3.2. The simulation results will be compared with the real practical movements. This paper will describe the technique, calculation and method on how the first phase was done.
Direct torque control (DTC) is considered as the best alternative for permanent magnet synchronou... more Direct torque control (DTC) is considered as the best alternative for permanent magnet synchronous (PMSM) drives. Classic switching-table based DTC has high torque and flux ripple due to the implementation of hysteresis control. Switching frequency can be ...
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