6 April 2007 Sensing rich drive trains for modern mechatronic systems: first year progress report
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In this paper, the advantages of sensing rich approaches to the design of mechatronic systems are explored for the power transmission mechanism or drive train under servo control. The drive train is a fundamental element of any motion control system. Two cases of utilizing various sensing means for controls of drive trains are presented: 1) the use of vision cameras for real time generation of the reference inputs for robot joints for tracking of straight lines in the task space, and 2) the use of accelerometer for fine tuning of the parameters of servo controllers.
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M. Tomizuka, M. Tomizuka, H. Cheng, H. Cheng, C.-C. Wang, C.-C. Wang, } "Sensing rich drive trains for modern mechatronic systems: first year progress report", Proc. SPIE 6529, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2007, 65290X (6 April 2007); doi: 10.1117/12.715435; https://doi.org/10.1117/12.715435


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