This research combines a sampling-based planning (SBP) algorithm with stochastic trajectory optimization for motion planning (STOMP) to enable a multi-axis industrial robot arm to generate an obstacle-avoiding motion path according to the operating environment and task requirements. The SBP algorithm is used due to the large search space of the multi-axis industrial robot arm, which …
Compared to the serial design commonly used in industrial robotic arms, parallel manipulators can handle high loads with a compact volume and weight and offer advantages such as high rigidity and precision. They are well-suited for minimally invasive spinal surgery applications where the space is tight and both soft and hard tissues are involved. This …
Development of a Control System for Collaborative Spinal Surgery Robotic Manipulator Read More »
This research focuses on the development of multi-input, multi-output control technique for wafer heating systems. The heating system utilizes multiple heating lamps as heat sources and multiple thermocouples for temperature sensing. The objective is to establish a control algorithm that takes temperature measurements from the thermocouples as inputs and controls the voltage supplied to the …
Control Design of a Multi-Input-Multi-Output Wafer Heating System Read More »
In response to the open-loop instability of magnetic bearing systems, this research develops a closed-loop identification method to obtain an accurate plant model for controller design. The identification method is based on a decentralized and decoupling control architecture, which allows the decoupling of the multi-input-multi-output (MIMO) system into two single-input-single-output (SISO) systems for simplifying the …
Closed-Loop System Identification of High-Speed Magnetic Levitation Spindle Read More »