Mechatronic Systems Simulation Modeling and Control by Edited by: Annalisa Milella Donato Di Paola and Grazia

By Edited by: Annalisa Milella Donato Di Paola and Grazia Cicirelli

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17. Measurement of natural frequency shifts with the change of contact load in contact with aluminum blocks. Applied voltage: 20V 500 Contact point Non-damaged (B) 400 f [Hz] B A p-p 300 200 Damaged (A) 100 0 B A (a) 0 1 2 3 4 5 Contact load [N] (b) 6 Fig. 18. Measurement of natural frequency shifts with the change of contact load in contact with teeth. 116 Mechatronic Systems, Simulation, Modelling and Control hollow in the contacted object can be investigated from the frequency shift even though there is no difference in outward aspect.

U d  l  cos   i  md   F      sin    ld  lq ld  lq ld  lq    sin 2 cos 2      2ld lq 2ld lq 2ld lq   l  l  cos 2  ld  lq I2  d q   2ld lq  sin 2  2ld lq (15) sin 2     cos      .   2ld lq  sin   2ld lq  sin 2  cos 2   sin     u d l md J1 (16) l  l  cos 2 sin 2   d q  u d . cos   ld  lq  cos   ld  lq  cos     iF  lmd   iF 2ld lq  sin   2ld lq  sin    cos     iF .

Sebastián, iiiF. Roberti, iiiR. Carelli and iR. Vaca Universidad Politécnica de Madrid, Madrid, España, ii Facultad de Ingeniera Electrónica Universidad Pontificia Bolivariana Bucaramanga, Colombia, iiiInstituto de Automática, Universidad Nacional de San Juan, San Juan, Argentina 1. Introduction Vision allows a robotic system to obtain a lot of information on the surrounding environment to be used for motion planning and control. When the control is based on feedback of visual information is called Visual Servoing.

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