Relevant bibliographies by topics / Motor Redundancy

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Motor Redundancy'

Author: Grafiati
Published: 6 September 2023
Last updated: 22 June 2025

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Journal articles on the topic "Motor Redundancy"

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Wang, Ke, Baojun Qu, and Mingwang Gao. "Redundancy Control Strategy for a Dual-Redundancy Steer-by-Wire System." Actuators 13, no. 9 (2024): 378. http://dx.doi.org/10.3390/act13090378.

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Currently, key factors hindering application of steer-by-wire systems are their inadequate safety and reliability, which are significant criteria for evaluating automotive active safety. Based on the steer-by-wire platform, a dual-redundant steering motor control system is proposed, featuring dual three-phase permanent magnet synchronous motors as execution motors, achieving redundancy from hardware. A torque vector-space-decoupling control method is introduced for these motors to ensure balanced and stable torque output. Upon a fault, fault-tolerant measures are taken by disconnecting power supply to the affected motor, which, despite reducing system functionality, allows for normal steering control. This research starts with modeling the dual three-phase motors to construct a simulation model. It then proceeds with hardware-in-the-loop testing integrated with the dual-redundancy steer-by-wire control system, conducting tests under dual-lane-change trajectory conditions. Finally, a steering system fault is simulated to assess fault handling and functional degradation. These experiments confirmed that the proposed method enabled balanced torque output from the dual three-phase motors in the redundant steering control and facilitated fault-tolerant processing post fault, ensuring the vehicle’s steering functions were maintained.
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Singh, Puneet, Sumitash Jana, Ashitava Ghosal, and Aditya Murthy. "Exploration of joint redundancy but not task space variability facilitates supervised motor learning." Proceedings of the National Academy of Sciences 113, no. 50 (2016): 14414–19. http://dx.doi.org/10.1073/pnas.1613383113.

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The number of joints and muscles in a human arm is more than what is required for reaching to a desired point in 3D space. Although previous studies have emphasized how such redundancy and the associated flexibility may play an important role in path planning, control of noise, and optimization of motion, whether and how redundancy might promote motor learning has not been investigated. In this work, we quantify redundancy space and investigate its significance and effect on motor learning. We propose that a larger redundancy space leads to faster learning across subjects. We observed this pattern in subjects learning novel kinematics (visuomotor adaptation) and dynamics (force-field adaptation). Interestingly, we also observed differences in the redundancy space between the dominant hand and nondominant hand that explained differences in the learning of dynamics. Taken together, these results provide support for the hypothesis that redundancy aids in motor learning and that the redundant component of motor variability is not noise.
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Fu, Zhaoyang, Zheng Liu, and Xingbang Liu. "A Dual-Redundancy Two-Phase Hybrid Stepping Motor for Satellite Antenna Drive System." Energies 15, no. 5 (2022): 1612. http://dx.doi.org/10.3390/en15051612.

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Stepping motors are highly preferred in spacecraft applications because of their simple structure, convenient control and lack of accumulated error. In satellite antenna drive systems, reliability and fault tolerance have been paid more and more attention. Accordingly, to enhance the reliability of the electrical system in the field of aerospace, the redundancy technology, which can effectively improve the system reliability while reducing the requirements of components, was applied in the design of hybrid stepping motors (HSM), a dual-redundancy two-phase HSM which has two sets of stator windings was designed in this paper. The mathematical model of stepping motor and the specific structure parameters of the motor are given. The torque-frequency characteristic was regarded as the key to measure the performance of the motor proposed in this paper. The results of 3-D finite element modeling are presented. The corresponding performance experiment on the designed motor was carried out and both the simulation results and the experimental results verified the validity and superiority of the dual redundancy HSM.
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Guigon, Emmanuel, Pierre Baraduc, and Michel Desmurget. "Computational Motor Control: Redundancy and Invariance." Journal of Neurophysiology 97, no. 1 (2007): 331–47. http://dx.doi.org/10.1152/jn.00290.2006.

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The nervous system controls the behavior of complex kinematically redundant biomechanical systems. How it computes appropriate commands to generate movements is unknown. Here we propose a model based on the assumption that the nervous system: 1) processes static (e.g., gravitational) and dynamic (e.g., inertial) forces separately; 2) calculates appropriate dynamic controls to master the dynamic forces and progress toward the goal according to principles of optimal feedback control; 3) uses the size of the dynamic commands (effort) as an optimality criterion; and 4) can specify movement duration from a given level of effort. The model was used to control kinematic chains with 2, 4, and 7 degrees of freedom [planar shoulder/elbow, three-dimensional (3D) shoulder/elbow, 3D shoulder/elbow/wrist] actuated by pairs of antagonist muscles. The muscles were modeled as second-order nonlinear filters and received the dynamics commands as inputs. Simulations showed that the model can quantitatively reproduce characteristic features of pointing and grasping movements in 3D space, i.e., trajectory, velocity profile, and final posture. Furthermore, it accounted for amplitude/duration scaling and kinematic invariance for distance and load. These results suggest that motor control could be explained in terms of a limited set of computational principles.
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Martin, V., J. P. Scholz, and G. Schöner. "Redundancy, Self-Motion, and Motor Control." Neural Computation 21, no. 5 (2009): 1371–414. http://dx.doi.org/10.1162/neco.2008.01-08-698.

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Outside the laboratory, human movement typically involves redundant effector systems. How the nervous system selects among the task-equivalent solutions may provide insights into how movement is controlled. We propose a process model of movement generation that accounts for the kinematics of goal-directed pointing movements performed with a redundant arm. The key element is a neuronal dynamics that generates a virtual joint trajectory. This dynamics receives input from a neuronal timer that paces end-effector motion along its path. Within this dynamics, virtual joint velocity vectors that move the end effector are dynamically decoupled from velocity vectors that do not. Moreover, the sensed real joint configuration is coupled back into this neuronal dynamics, updating the virtual trajectory so that it yields to task-equivalent deviations from the dynamic movement plan. Experimental data from participants who perform in the same task setting as the model are compared in detail to the model predictions. We discover that joint velocities contain a substantial amount of self-motion that does not move the end effector. This is caused by the low impedance of muscle joint systems and by coupling among muscle joint systems due to multiarticulatory muscles. Back-coupling amplifies the induced control errors. We establish a link between the amount of self-motion and how curved the end-effector path is. We show that models in which an inverse dynamics cancels interaction torques predict too little self-motion and too straight end-effector paths.
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Kumar, Swagat, Premkumar P., Ashish Dutta, and Laxmidhar Behera. "Visual motor control of a 7DOF redundant manipulator using redundancy preserving learning network." Robotica 28, no. 6 (2009): 795–810. http://dx.doi.org/10.1017/s026357470999049x.

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SUMMARYThis paper deals with the design and implementation of a visual kinematic control scheme for a redundant manipulator. The inverse kinematic map for a redundant manipulator is a one-to-many relation problem; i.e. for each Cartesian position, multiple joint angle vectors are associated. When this inverse kinematic relation is learnt using existing learning schemes, a single inverse kinematic solution is achieved, although the manipulator is redundant. Thus a new redundancy preserving network based on the self-organizing map (SOM) has been proposed to learn the one-to-many relation using sub-clustering in joint angle space. The SOM network resolves redundancy using three criteria, namely lazy arm movement, minimum angle norm and minimum condition number of image Jacobian matrix. The proposed scheme is able to guide the manipulator end-effector towards the desired target within 1-mm positioning accuracy without exceeding physical joint angle limits. A new concept of neighbourhood has been introduced to enable the manipulator to follow any continuous trajectory. The proposed scheme has been implemented on a seven-degree-of-freedom (7DOF) PowerCube robot manipulator successfully with visual position feedback only. The positioning accuracy of the redundant manipulator using the proposed scheme outperforms existing SOM-based algorithms.
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Johar, Harminder Singh, Abhijit Bhattacharya, and S. Srinivasa Rao. "Fault Tolerant Brushless DC Motor Drive for Aerospace Applications." Defence Science Journal 73, no. 06 (2023): 749–56. http://dx.doi.org/10.14429/dsj.73.18898.

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This article brings out a Fault-tolerant BLDC motor drive for aerospace applications using the redundancy concept. In a way, it brings out a fault-tolerant strategy that can be used to continue the regular operation of a BLDC motor drive even after the occurrence of faults. As BLDC motors are used in critical and dangerous control areas like military services and space vehicles, a fault-tolerant drive is essential to maintain drive operation and provide desirable output. This article compares fault simulation results in the software model of a BLDC motor drive to those of fault simulation results in hardware for three main types of faults. Fault simulation is carried out for three types of faults, viz. inverter device open circuit fault, motor winding open circuit fault, and rotor position sensor (hall sensor) open-circuited fault. Fault tolerance is ensured by introducing a redundant drive (drive-2), which operates the complete drive at the advent of any of the faults mentioned above in the main (healthy) drive-1. A fault-tolerant (redundant) hardware comprising dual stator BLDC motor and redundant controllers is realized and operationalized. Fault simulation is carried out in this hardware, and these results are validated with the results of fault simulation in the MATLAB SIMULINK model. Software and hardware results are comparable and form a basis for developing fault-tolerant electro-mechanical actuation systems for high-reliability, high-cost applications, mainly aerospace.
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Yang, Yi, Wei Wang, Daisuke Iwakura, Akio Namiki, and Kenzo Nonami. "Sliding Mode Control for Hexacopter Stabilization with Motor Failure." Journal of Robotics and Mechatronics 28, no. 6 (2016): 936–48. http://dx.doi.org/10.20965/jrm.2016.p0936.

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[abstFig src='/00280006/18.jpg' width='300' text='Hovering with 5 rotors' ] This study presents a fault-tolerance approach for hexacopters with failed propulsion systems (i.e., motors and propellers) using sliding mode control theory. In this study, we use an explicit control allocation method with linear constraints for allocating the control input to redundancy actuators, as well as a new sliding model controller designed to stabilize the attitude and maintain the basic flight performance of a vehicle with a single failed motor during an outdoor autonomous flight mission. An asymmetrical motor rotation arrangement is applied in order to ensure controllability for all degrees of freedom. We verify the developed system on a real hexacopter suffering propulsion-system failure. Finally, the comparative results between the linear-quadratic-integral controller and model reference sliding mode controller are presented to evaluate the robustness of each controller against the failure of redundancy actuators.
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Liu, Xiaolin, and Jinkai Li. "Research on Control Method of Dual-Motor Load Simulator." World Electric Vehicle Journal 14, no. 2 (2023): 28. http://dx.doi.org/10.3390/wevj14020028.

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Aiming at the output torque error of a steering gear electric load simulator caused by excess torque and backlash interference, an electric load simulator based on double-motor loading is designed. The double-motor loading mode is adopted in the structure, the mathematical model is established, and the sources of excess torque and backlash interference are analyzed. In the control strategy, firstly, a torque controller is designed as a feedback controller based on the improved error symbol robust integral control method, and then a backlash interference compensator is designed as a feedforward controller based on the drive redundancy strategy. Finally, a dual motor speed synchronization controller is designed based on the improved cross coupling control method to ensure the stable operation of the torque controller and backlash compensator in the dual-motor system. The simulation results show that the compound control method can reduce the tracking error to 1.13%, 4.44% less than the PID control method. The tracking error is only 1.54% in the case of redundant torque, backlash, and different parameters of dual motors. The method proposed in this paper can still output loading torque with high accuracy.
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Watson, J. Morrissa, and Edwin E. Wagner. "Redundancy in Perceptual-Motor Testing: Confirmation and Generalization." Perceptual and Motor Skills 72, no. 2 (1991): 585–86. http://dx.doi.org/10.2466/pms.1991.72.2.585.

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Dissertations / Theses on the topic "Motor Redundancy"

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Hayakawa, Yoshikazu, and Akira Ito. "Design of Fault Tolerant Control System for Electric Vehicles with Steer-By-Wire and In-Wheel Motors." International Federation of Automatic Control (IFAC), 2013. http://hdl.handle.net/2237/20771.

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Bunderson, Nathan Eric. "Role of heterogenic spinal reflexes in coordinating and stabilizing a model feline hindlimb." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/22634.

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Thesis (Ph. D.)--Biomedical Engineering, Georgia Institute of Technology, 2008.<br>Committee Chair: Thomas J. Burkholder; Committee Member: Lena H. Ting; Committee Member: Roman O. Grigoriev; Committee Member: Shawn Hochman; Committee Member: T. Richard Nichols.
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Hagio, Shota. "Muscle synergy for coordinating redundant motor system." Kyoto University, 2016. http://hdl.handle.net/2433/215620.

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Kyoto University (京都大学)<br>0048<br>新制・課程博士<br>博士(人間・環境学)<br>甲第19794号<br>人博第765号<br>新制||人||184(附属図書館)<br>27||人博||765(吉田南総合図書館)<br>32830<br>京都大学大学院人間・環境学研究科共生人間学専攻<br>(主査)教授 神﨑 素樹, 教授 森谷 敏夫, 教授 石原 昭彦<br>学位規則第4条第1項該当
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Maldonado, Toro Galo Xavier. "Analysis and generation of highly dynamic motions of anthropomorphic systems : application to parkour." Thesis, Toulouse 3, 2017. http://www.theses.fr/2017TOU30375/document.

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Cette thèse propose une approche interdisciplinaire originale du traitement du mouvement humain corps-complet grâce à l'utilisation couplée d'approches issues de la biomécanique, du contrôle moteur et de la robotique. Les méthodes biomécaniques sont utilisées pour l'enregistrement, le traitement et l'analyse du mouvement humain. L'approche &lt;&lt; Uncontrolled Manifold &gt;&gt; du contrôle moteur est étendue à l'étude des mouvements hautement dynamiques. Ceci permet de déterminer si d'éventuelles tâches dynamiques sont contrôlées et stabilisées par le cerveau, puis d'inférer une organisation hiérarchique des tâches motrices. Le formalisme de l'espace des tâches utilisé en robotique pour la génération de mouvement corps-complet ainsi que la hiérarchie des tâches extraites dans l'étude du contrôle moteur sont utilisés pour simuler des mouvements humains hautement dynamiques. Cette approche permet de mieux comprendre le mouvement humain et de générer des mouvements inspirés de l'humain pour d'autres systèmes anthropomorphes tel que des robots ou avatars. La discipline du Parkour, impliquant des actions hautement dynamiques tels que des sauts et des techniques d'atterisage, est choisie pour illustrer l'approche proposée<br>This thesis proposes an original and interdisciplinary approach to the treatment of whole-body human movements through the synergistic utilization of biomechanics, motor control and robotics. Robust methods of biomechanics are used to record, process and analyze whole-body human motions. The Uncontrolled Manifold approach (UCM) of motor control is extended to study highly dynamic movements processed in the biomechanical study, in order to determine if hypothesized dynamic tasks are being controlled stably by the central nervous system. This extension permits also to infer a hierarchical organization of the controlled dynamic tasks. The task space formalism of motion generation in robotics is used to generate whole-body motion by taking into account the hierarchy of tasks extracted in the motor control study. This approach permits to better understand the organization of human dynamic motions and provide a new methodology to generate whole-body human motions with anthropomorphic systems. A case study of highly dynamic and complex movements of Parkour, including jumps and landings, is utilized to illustrate the proposed approach
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Rostaing, Gilles. "Diagnostic de défaut dans les entrainements électriques." Grenoble INPG, 1997. http://www.theses.fr/1997INPG0029.

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Cette thèse représente une contribution aux études sur la disponiblité des dispositifs électrotechnique. L'étude présentée vise à définir la méthode de redondance analytique, basée sur l'estimation d'état, la mieux adaptée au diagnostic des entraînements électriques en considérant les défauts de l'ensemble du convertisseur, de la commande et des capteurs. La méthode retenue doit permettre d'obtenir un modèle de diagnostic implantable en temps réel et sans ajout de capteurs supplémentaires. L'application retenue est un entraînement à courant continu commandé en couple. Le chapitre II compare deux modèles analytiques nommés modèles parallèle et permet de retenir un modèle parallèle "découplé" qui permet une bonne détection et une bonne localisation des défauts d'électronique de puissance ainsi que des défauts capteur. Malheureusement les modèles parallèles sont dépendants des entrées perturbatrices du procédé. Les perturbations génèrent donc des fausses alarmes La batterie d'observateur à entrées inconnues mise au point au chapitre III permet de s'affranchir de l'entrée perturbatrice que constitue dans notre cas le couple de charge. Cette technique est moins dépendante, en terme de découplage, du système car l'injection de sortie grace à la matrice de gain permet de disposer de degrés de liberté supplémentaires qui autorisent un réglage des découplages et des sensibilités. Les observateurs (à entrées inconnues) sont donc, à priori, les modèles de diagnostic les mieux adaptés à la à la détection et la localisation de défauts dans les entrainements électriques à courant continu<br>This thesis deals with sorne methods for improve reliability in electrotechnical devices. The proposed methods are based on analytical redondancy. An approach using astate estimation is developped in order to detect failures on a statie converter-fed DC motor on wich we considered sensor faults and power electronic failures. Chapter II deal with parallel state model and propose two sort of these : "global" and "decoupled~~ model. The second one allowed a good fault detection and localization but was disturbed by load torque variations. Robustness of this model with respect to parameter variations is discussed and results of simulation are shown. Chapter III present an approach to be robust against disturbances : using an Unknown Input Observer. UIFDO allowed good results in term of disturbance decoupling with respect of a good fault detection. This work conclue on the capability of analytical redondancy to detect and localize faults on electric drives
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Rostaing, Gilles. "DIAGNOSTIC DE DÉFAUT DANS LES ENTRAINEMENTS ÉLECTRIQUES." Phd thesis, Grenoble INPG, 1997. http://tel.archives-ouvertes.fr/tel-00909645.

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Cette thèse représente une contribution aux études sur la disponiblité des dispositifs électrotechnique. L'étude présentée vise à définir la méthode de redondance analytique, basée sur l'estimation d'état, la mieux adaptée au diagnostic des entraînements électriques en considérant les défauts de l'ensemble du convertisseur, de la commande et des capteurs. La méthode retenue doit permettre d'obtenir un modèle de diagnostic implantable en temps réel et sans ajout de capteurs supplémentaires. L'application retenue est un entraînement à courant continu commandé en couple. Le chapitre II compare deux modèles analytiques nommés modèles parallèle et permet de retenir un modèle parallèle "découplé" qui permet une bonne détection et une bonne localisation des défauts d'électronique de puissance ainsi que des défauts capteur. Malheureusement les modèles parallèles sont dépendants des entrées perturbatrices du procédé. Les perturbations génèrent donc des fausses alarmes La batterie d'observateur à entrées inconnues mise au point au chapitre III permet de s'affranchir de l'entrée perturbatrice que constitue dans notre cas le couple de charge. Cette technique est moins dépendante, en terme de découplage, du système car l'injection de sortie grace à la matrice de gain permet de disposer de degrés de liberté supplémentaires qui autorisent un réglage des découplages et des sensibilités. Les observateurs (à entrées inconnues) sont donc, à priori, les modèles de diagnostic les mieux adaptés à la à la détection et la localisation de défauts dans les entrainements électriques à courant continu.
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Ambike, Satyajit S. "Characteristics of Spatial Human Arm Motion and the Kinematic Trajectory Tracking of Similar Serial Chains." The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1325169225.

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Aboelhassan, Mustafa Osman Elrayah. "Robustní řízení synchronního stroje s permanentními magnety a spínaným tokem." Doctoral thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2013. http://www.nusl.cz/ntk/nusl-233605.

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Je jasné, že nejúspěšnější konstrukce zahrnuje postup vícefázového řízení, ve kterém každá fáze může být považována za samostatný modul. Provoz kterékoliv z jednotek musí mít minimální vliv na ostatní, a to tak, že v případě selhání jedné jednotky ostatní mohou být v provozu neovlivněny. Modulární řešení vyžaduje minimální elektrické, magnetické a tepelné ovlivnění mezi fázemi řízení (měniče). Synchronní stroje s pulzním tokem a permanentními magnety se jeví jako atraktivní typ stroje, jejíž přednostmi jsou vysoký kroutící moment, jednoduchá a robustní konstrukce rotoru a skutečnost, že permanentní magnety i cívky jsou umístěny společně na statoru. FS-PMSM jsou poměrně nové typy střídavého stroje stator-permanentní magnet, které představují významné přednosti na rozdíl od konvenčních rotorů - velký kroutící moment, vysoký točivý moment, v podstatě sinusové zpětné EMF křivky, zároveň kompaktní a robustní konstrukce díky umístění magnetů a vinutí kotvy na statoru. Srovnání výsledků mezi FS-PMSM a klasickými motory na povrchu upevněnými PM (SPM) se stejnými parametry ukazuje, že FS-PMSM vykazuje větší vzduchové mezery hustoty toku, vyšší točivý moment na ztráty v mědi, ale také vyšší pulzaci díky reluktančnímu momentu. Pro stroje buzené permanentními magnety se jedná o tradiční rozpor mezi požadavkem na vysoký kroutící moment pod základní rychlostí (oblast konstantního momentu) a provozem nad základní rychlostí (oblast konstantního výkonu), zejména pro aplikace v hybridních vozidlech. Je předložena nová topologie synchronního stroje s permanentními magnety a spínaným tokem odolného proti poruchám, která je schopná provozu během vinutí naprázdno a zkratovaného vinutí i poruchách měniče. Schéma je založeno na dvojitě vinutém motoru napájeném ze dvou oddělených vektorově řízených napěťových zdrojů. Vinutí jsou uspořádána takovým způsobem, aby tvořila dvě nezávislé a oddělené sady. Simulace a experimentální výzkum zpřesní výkon během obou scénářů jak za normálního provozu, tak za poruch včetně zkratových závad a ukáží robustnost pohonu za těchto podmínek. Tato práce byla publikována v deseti konferenčních příspěvcích, dvou časopisech a knižní kapitole, kde byly představeny jak topologie pohonu a aplikovaná řídící schémata, tak analýzy jeho schopnosti odolávat poruchám.
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Aimedee, Marie Fidèle. "Synthesis and Control of Reconfigurable mechanisms." Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22641/document.

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Cette thèse aborde principalement trois grands aspects tels que la systématisation et l'analyse structurale, la modélisation géométrique et cinématique et les stratégies de contrôle. La première partie de la thèse est consacrée à l'élaboration d'une approche pour la systématisation des mécanismes reconfigurables selon leurs paramètres structuraux tels que la mobilité, la connectivité, la redondance et l’hyperstatisme. Ces paramètres nous permettent de comprendre les mécanismes et de les systématiser selon leur type de mouvement ; le mécanisme peut être isostatique ou hyperstatique, redondant ou non-redondant, avec ou sans mobilités internes, etc. Afin de résoudre les problèmes pratiques de modélisation, contrôle, simulation et développement du robot, les paramètres structuraux sont nécessaires. Différents types de singularités sont systématisés et analysés en tenant compte de paramètres structuraux. En plus, pour connaître les positions et les orientations relatives des membres du robot, nous avons besoin de calculer le modèle géométrique. Nous utilisons la méthode du Système de Coordonnées Voyageur pour déterminer la position et l'orientation des membres à chaque instant. Pour connaître les vitesses linéaires et angulaires des membres, nous devons formuler les équations cinématiques pour le robot étudié. La partie contrôle est dédiée à l'élaboration de stratégies de génération de trajectoire et de contrôle, sur la base de la redondance d’actionnement. La difficulté dans la commande est de développer une loi de contrôle avancée pour la synchronisation de plusieurs actionneurs afin d'avoir une transition fluide d'un mode d'assemblage à un autre, ceci sans endommager le robot. Le choix des liaisons actionnées joue également un rôle essentiel en garantissant une haute performance et la contrôlabilité du mécanisme au passage par les configurations singulières. Dans cette thèse, nous nous concentrons sur le mécanisme à une seule boucle fermée de type 8-bar afin d’illustrer les développements réalisés dans les trois parties mentionnées ci-dessus. Il a été démontré que ce mécanisme présente une capacité intéressante de reconfiguration. Il dispose de deux degrés de mobilité dans une configuration générale, mais a besoin d'au moins cinq moteurs pour être entièrement contrôlés dans toutes les configurations singulières<br>This thesis mainly addresses three major aspects such as systematization and structural analysis, geometric and kinematic formulation and control strategies. The first part of the thesis is dedicated to the development of a systematization approach for reconfigurable mechanisms with respect to their structural parameters such as mobility, connectivity, redundancy and number of overconstraints. These parameters help us to understand the mechanism and to systematize it according to type of motion, whether the mechanism is overconstrained or non-overconstraint, redundant or non-redundant, with/without internal mobilites, etc. To resolve the practical problems of modeling, control, simulation and development of the robot, the structural parameters are required. Various types of singularities are also systematized and analyzed by taking into account the structural parameters. Further to know the relative location of robot links, we need to compute the geometric model. We use Travel Coordinate System method to determine the position and orientation of links at each instant. To find out the linear and angular velocities of links, we need to formulate the kinematic equations for the robot under consideration. The control part is dedicated to the development of trajectory generation and control strategies, based on actuation redundancy. The challenging task is to develop an advanced control law in order to synchronize several actuators to have a smooth transition from one assembly mode to another without causing wear and tear to the robot. Choice of actuated joints also plays a vital role in ensuring high performance and controllability of the mechanism when crossing singular configurations. In this thesis we focus on the 8-bar single loop mechanism to illustrate the developments achieved in the three parts mentioned above. It has been shown that, this mechanism exhibits an interesting capacity to reconfigure. It has two degrees of mobility in a general configuration but needs at least five motors to be fully controlled in all singular configurations
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Singh, Puneet. "The Role of Basal Ganglia and Redundancy in Supervised Motor Learning." Thesis, 2017. http://etd.iisc.ac.in/handle/2005/4176.

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Human sensorimotor control can achieve highly reliable movements under circumstances of noise, redundancy, uncertainty, and sensory delays. Our ability to achieve reliable and accurate movements is in the fact we have a nervous system that learns these limitations and continuously compensates for them. The purpose of the thesis is to understand brain mechanisms and computations underlying supervised motor learning, its interaction with reinforcement learning and study its relation to motor variability. To address these issues, we have investigated factors influencing supervised motor learning such as neurological disease condition, the role of the reinforcement signal, motor variability and motor redundancy. Traditionally, supervised or error-based learning and reinforcement or reward based learning are thought to be occurring at anatomically different places and have functionally separate mechanisms. By leveraging the performance of human patients with Parkinson disease and cerebellar ataxia disease, we demonstrate how the presence and absence of dopamine medication and subthalamic deep brain stimulation (STN-DBS) influenced supervised learning. Furthermore, we also show that the presence and absence of reinforcement at the end of the trial profoundly affected learning such that the difference in learning as a consequence of medication reduced significantly. These results suggest that the basal ganglia modulate the gain of supervised learning in the cerebellum based on the reinforcement received at the end of the trial. Furthermore, we explored motor variability (thought to be an unwanted characteristic of the motor system) and investigated its significance and effect on supervised motor learning. We propose that some part of motor variability arises out of the redundancy in the joints in the human arm. We showed that greater uses of redundancy in the arm lead to faster learning across healthy subjects. We observed these both in dynamic perturbation learning and kinematic perturbation learning. Interestingly, we also found differences in the use of redundancy between the dominant hand and non-dominant hand, suggesting that the nervous system actively controls the redundancy. Furthermore, we also observed some directions in reaching are difficult to learn in comparison to others directions. To understand such behavior, we separated direction wise errors and constructed errors ellipses and found out that eccentricity of ellipse change with learning, which suggests brain while reducing errors in learning, is also trying to homogenize the distribution of errors caused by the perturbation. We also found interesting differences between redundancy and motor learning that was selectively impaired in PD patients but not cerebellar patients, possibly pointing to a role of the basal ganglia in processing of the use of redundancy in motor learning. In summary, the results in the thesis provide experimental support for the hypothesis that the basal ganglia modulate the gain of supervised learning and exploration of redundancy aids in learning and that the redundancy component of the motor variability is not noise. In future, we hope that this relationship between basal ganglia, reinforcement, and redundancy in supervised motor learning can be leveraged to enhance motor rehabilitation and motor skills in patients with motor deficits.
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Books on the topic "Motor Redundancy"

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Phan, Gia Hoang, Vijender Kumar Solanki, and Nguyen Ho Quang. Bio-inspired Motor Control Strategies for Redundant and Flexible Manipulator with Application to Tooling Tasks. Springer Singapore, 2022. http://dx.doi.org/10.1007/978-981-16-9551-3.

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Butz, Martin V., and Esther F. Kutter. Decision Making, Control, and Concept Formation. Oxford University Press, 2017. http://dx.doi.org/10.1093/acprof:oso/9780198739692.003.0012.

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While attention controls the internal, mental focus of attention, motor control directs the bodily control focus. Our nervous system is structured in a cascade of interactive control loops, where the primary self-stabilizing control loops can be found directly in the body’s morphology and the muscles themselves. The hierarchical structure enables flexible and selective motor control and the invocation of motor primitives and motor complexes. The learning of motor primitives and complexes again adheres to certain computational systematicities. Redundant behavioral alternatives are encoded in an abstract manner, enabling fast habitual decision making and slower, more elaborated planning processes for realizing context-dependent behavior adaptations. On a higher level, behavior can be segmented into events, during which a particular behavior unfolds, and event boundaries, which characterize the beginning or the end of a behavior. Combinations of events and event boundaries yield event schemata. Hierarchical combinations of event schemata on shorter and longer time scales yield event taxonomies. When developing event boundary detectors, our mind begins to develop environmental conceptualizations. Evidence is available that suggests that such event-oriented conceptualizations are inherently semantic and closely related to linguistic, generative models. Thus, by optimizing behavioral versatility and developing progressively more abstract codes of environmental interactions and manipulations, cognitive encodings develop, which are supporting symbol grounding and grammatical language development.
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Phan, Gia Hoang, Nguyen Ho Quang, and Vijender Kumar Solanki. Bio-Inspired Motor Control Strategies for Redundant and Flexible Manipulator with Application to Tooling Tasks. Springer Singapore Pte. Limited, 2022.

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Phillips, Jim, Valerie Wright, and Jim Tomlinson. Deindustrialisation and the Moral Economy in Scotland since 1955. Edinburgh University Press, 2021. http://dx.doi.org/10.3366/edinburgh/9781474479240.001.0001.

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Deindustrialisation was a long-running process in Scotland, managed carefully by policy-makers in the 1960s and 1970s, and recklessly in the 1980s and 1990s. This book examines the social, cultural and political implications of this process. It uses unpublished documentary sources and oral history interviews from industrial sectors that have not been examined together before, along with a moral economy conceptual framework, to explain popular understanding of deindustrialisation. The perceived injustices of industrial job losses stimulated support for Scottish Home Rule within the UK from the 1960s to the 1990s and then for Independence in the 2000s. The book links political and industrial changes through a two-part integration of themes and case studies. Part one elaborates understanding of deindustrialisation: in global and historical terms; within the moral economy framework in Scotland; and as a phased and politicised phenomenon. It is shown that deindustrialisation was accepted as fair in the 1960s and 1970s, because the UK government made provision for economic alternatives in dialogue with communities affected. It was regarded as unjust in the 1980s and 1990s because the UK government offered no meaningful support to redundant workers and newly-insecure localities. Part two examines the working-class moral economy of deindustrialisation in action through case studies: shipbuilding, with Fairfield shipyard in Govan; motor manufacturing, with the Linwood car plant in Renfrewshire; and watchmaking and electronics sub-assembly, with Timex in Dundee. The book concludes its long chronological sweep with a chapter-length analysis of deindustrialisation since the mid-1990s.
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Book chapters on the topic "Motor Redundancy"

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Shadmehr, Reza. "Actuator and Kinematic Redundancy in Biological Motor Control." In Research Notes in Neural Computing. Springer Berlin Heidelberg, 1991. http://dx.doi.org/10.1007/978-3-642-84545-1_15.

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Wiltschko, R., and W. Wiltschko. "Avian Orientation: Multiple Sensory Cues and the Advantage of Redundancy." In Perception and Motor Control in Birds. Springer Berlin Heidelberg, 1994. http://dx.doi.org/10.1007/978-3-642-75869-0_6.

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Mussa-Ivaldi, F. A., J. Mclntyre, and E. Bizzi. "Theoretical and Experimental Perspectives on Arm Trajectory Formation: A Distributed Model of Motor Redundancy." In Biological and Artificial Intelligence Systems. Springer Netherlands, 1988. http://dx.doi.org/10.1007/978-94-009-3117-6_28.

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De Santis, Dalia, and Ferdinando A. Mussa-Ivaldi. "Guiding the Reorganization of Motor Redundancy for Assistance and Rehabilitation After Spinal Cord Injury." In Converging Clinical and Engineering Research on Neurorehabilitation III. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-01845-0_71.

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Wu, Zhihao, Ning Zhang, Pu Li, Zihong Li, and Jianrun Zhang. "A Study on the Control of Handling and Stability of a Four Wheel Independent Steering Electric Vehicle." In Lecture Notes in Mechanical Engineering. Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-70392-8_61.

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AbstractThe path-tracking control of electric vehicles with four wheel independent steering (FWIS) is crucial for enhancing vehicle stability. This paper aims to address the issue of multi-actuator redundancy by coordinating the control allocation of multiple actuators, thereby improving the handling stability and path tracking performance of FWIS vehicles. First, a model of FWIS electric vehicle is developed, taking into account both the nonlinear tyre and motor actuator characteristics. Subsequently, a path tracking model is established and a hierarchical control architecture is designed. The upper-level controller computes the generalized tracking force and the lower-level control force is distributed based on the principle of optimal tyre utilization rate. Finally, the simulation results demonstrate the effectiveness of the proposed control scheme in terms of tracking accuracy and handling and stability.
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Gong, Mingde, Kongming Hu, and Yue Zhang. "Research on Bilateral Servo Control Strategy for the 3T Redundant Freedom Parallel Robot." In Lecture Notes in Mechanical Engineering. Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-97-1876-4_37.

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AbstractIn this paper, a force feedback position bilateral servo control strategy with position difference compensation for a 3T redundant degree of freedom parallel robot is proposed. We have designed master and slave controllers based on fuzzy control, and conducted single motor bilateral servo control experiments and single branch bilateral servo control experiments on the experimental platform. The experimental results show that this method can effectively reduce the error accumulation caused by using non redundant inverse kinematics methods to solve redundant parallel robots, and maintain good position following performance of the master slave robot, Improved the transparency of force displacement control in the master–slave remote control robot system.
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Phan, Gia Hoang, Vijender Kumar Solanki, and Nguyen Ho Quang. "Bio-inspired Motor Control Strategies for Redundant Manipulators." In Bio-inspired Motor Control Strategies for Redundant and Flexible Manipulator with Application to Tooling Tasks. Springer Singapore, 2022. http://dx.doi.org/10.1007/978-981-16-9551-3_1.

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Shuli, Wang, Liu Mengkai, and Jiang Wang. "Redundant Control of Electric Aircraft Motor Based on Digital Twinning." In Lecture Notes in Mechanical Engineering. Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-99-8864-8_54.

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Kuppuswamy, Naveen, Hugo Gravato Marques, and Helmut Hauser. "Synthesising a Motor-Primitive Inspired Control Architecture for Redundant Compliant Robots." In From Animals to Animats 12. Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-33093-3_10.

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Müller, Hermann, and Dagmar Sternad. "Motor Learning: Changes in the Structure of Variability in a Redundant Task." In Advances in Experimental Medicine and Biology. Springer US, 2009. http://dx.doi.org/10.1007/978-0-387-77064-2_23.

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Conference papers on the topic "Motor Redundancy"

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Fong, Weston, Farhan Gandhi, Ariel Walter, and Robert Niemiec. "Post-ESC-Failure Performance of a UAM-Scale Hexacopter with Dual Three-Phase Motors." In Vertical Flight Society 80th Annual Forum & Technology Display. The Vertical Flight Society, 2024. http://dx.doi.org/10.4050/f-0080-2024-0036.

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Dual three-phase motors are simulated on a 1200 lb hexacopter to examine its ability to tolerate any single electronic speed controller (ESC) failure. Redundancy is added, as each motor includes two sets of stator windings, powered by electrically independent ESCs, which drive a single motor shaft. Flight control laws are tuned on the healthy aircraft to meet standard flying-qualities specifications. Power constraints are embedded in the controller to enforce both instantaneous and continuous power limits for each ESC. With the proposed dual three-phase motor, the aircraft is shown to be capable of trimming in all single ESC failure cases, including the case of aft motor failure in forward flight. Time-domain simulations demonstrate the aircraft's ability to re-establish trim and recover from any single ESC failure in hover and forward flight. Flying-qualities specifications are re-evaluated for the post-failure aircraft, showing minor, but not debilitating, degradation in several flying-qualities metrics. The post-failure aircraft's ability to follow commands without violating power constraints is verified through time-domain simulations.
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Valente, Giorgio, Andrew Johnston, Matthew Wigmore, et al. "Maximizing Power Density in the Design of a 100 kW Geared e-Propulsion Unit." In Vertical Flight Society 80th Annual Forum & Technology Display. The Vertical Flight Society, 2024. http://dx.doi.org/10.4050/f-0080-2024-1152.

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This paper proposes a highly integrated 3-in-1 e-Propulsion unit that exceeds current state-of-the-art power density, utilising low-risk, high TRL technologies. The design process of the e-Propulsion unit is outlined, including the development of a high integrity, fault-tolerant system design targeting DAL-A safety levels. The resulting system concept embodies redundancy throughout the electrical system - two sets of windings in the motor and redundancy built into the power electronics create a robust and efficient architecture. The electrical machine is connected to an optimised single stage planetary gearbox to realise output shaft speed and torque suitable for an eVTOL or eCTOL type application. Both systems are cooled and lubricated by a standalone cooling loop.
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Chiodo, Elio, and Luigi Pio Di Noia. "Bayes Reliability Estimation of Motor Drives Redundant Configuration." In 2024 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM). IEEE, 2024. http://dx.doi.org/10.1109/speedam61530.2024.10609091.

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Kloetzl, Johannes, Johann Oswald, Fabian Denk, and Oliver Blamberger. "Redundancy Concepts, Considerations and Experiences on Electric Propulsion Systems." In Vertical Flight Society 80th Annual Forum & Technology Display. The Vertical Flight Society, 2024. http://dx.doi.org/10.4050/f-0080-2024-1104.

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Within this paper redundancy concepts on electric propulsion systems - consisting of electrical sources, inverters, electrical machines, gearboxes and drag generation units - are discussed. In a first steps different possible concepts are explained. In a general section considerations on the possible concepts are made, with a special focus on the design of the inverters, electrical machines and gearboxes. Advantages and disadvantages are shown and therefore some general assumptions on possible applications discussed. Later, two engineering examples for the concepts of shared drag generation unit and shared electrical machines with inverters are shown. The functionality is shown on measurement examples and experiences made during the design and testing phases are given. Finally, a new concept to reduce the risk of failure propagation in multi-wound motors is shown and discussed.
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Zhaoyang, Fu, and Liu Jinglin. "Fault diagnosis of dual-redundancy BLDC motor." In 2015 18th International Conference on Electrical Machines and Systems (ICEMS). IEEE, 2015. http://dx.doi.org/10.1109/icems.2015.7385223.

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Qing, Zhao, Guo XiBin, Guo YaJing, Dong Lei, and Wu HongXing. "Design of double redundancy switched reluctance motor." In 2017 Chinese Automation Congress (CAC). IEEE, 2017. http://dx.doi.org/10.1109/cac.2017.8244131.

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Nakamura, M., M. Tsukakoshi, and K. Hashimura. "Redundancy system for continuous driving large motor drive equipment." In 2010 International Power Electronics Conference (IPEC - Sapporo). IEEE, 2010. http://dx.doi.org/10.1109/ipec.2010.5542380.

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Anwar, Sohel, and Lei Chen. "Analytical Redundancy Based Fault Tolerant Control of a Steer-by-Wire System." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-14183.

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This paper presents a novel observer-based analytical redundancy for a steer-by-wire (SBW) system. In order to achieve high level of reliability for a By-Wire system, double, triple, or even quadruple redundant sensors, actuators, communication networks, and controllers are needed. But this added hardware increases the overall cost of the vehicle. This paper utilizes a novel analytical redundancy methodology to reduce the total number of redundant road-wheel angle (RWA) sensors in a triply redundant RWA-based SBW system, while maintaining a high level of reliability. The self-aligning torque at road-tire interface due to the steering dynamics has been modeled as a function of the linear vehicle states. A full state observer was designed using the combined model of the vehicle and SBW system to estimate the vehicle body side slip angle. The steering angle was then estimated from the observed and measured states of the vehicle (body side slip angle and yaw rate) as well as the current input to the SBW electric motor(s). With at least two physical road-wheel angle sensors and the analytical estimation of the RWA value (which replaces the third physical sensor), a fault detection and isolation (FDI) algorithm was developed using a majority voting scheme. The FDI algorithm was then used to detect faulty sensor(s) in order to maintain safe drivability. The proposed analytical redundancy based fault detection &amp; isolation algorithms and the linearized vehicle model were modeled in SIMULINK. Simulation of the proposed algorithm was performed for both single and multiple sensor faults. Simulation results show that the proposed analytical redundancy based fault detection and isolation algorithm provides the same level of fault tolerance as in an SBW system with full hardware redundancy against single point failures.
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Liang Bo, Li Yuren, Li Bo, Huangfu Yigeng, and Zhao Dongdong. "Research on dual redundancy motor of Electro-Hydrostatic Actuator system." In 2015 IEEE Transportation Electrification Conference and Expo (ITEC). IEEE, 2015. http://dx.doi.org/10.1109/itec.2015.7165751.

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Jing, Li, Li Shanfeng, Zhang Yanqing, Yu Shaolei, and Wu Xiangyang. "The balanced control of dual-redundancy brushless DC motor servo system." In 2016 IEEE 11th Conference on Industrial Electronics and Applications (ICIEA). IEEE, 2016. http://dx.doi.org/10.1109/iciea.2016.7603924.

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