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Additional info for Mechatronic Systems Simulation Modeling and Control
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.