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Lin H.-H.,Agile Energy | Ta Y.-H.,National Kaohsiung University of Applied Sciences | Liu C.-S.,National Kaohsiung University of Applied Sciences
Proceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013 | Year: 2013

The implementation of smoothing robust control for a delta robot has been explored in this paper. Delta robots are usually used for the high speed pick-and-place or highly precise applications in the manufacturing factories. For the inherent mechanical structural constraints of delta robots, they would make the motion control more complex than serial manipulators. A delta robot control system is a highly coupling system and easy to induce position errors or chatter due to the effects of other attached limbs. In order to solve the serious problem, this paper implemented a smoothing robust control method, MDDS, to guarantee the smoothly and robustly dynamic behavior as we designed. The method has the capabilities of dynamics prediction and disturbance estimation, and then outputs the control efforts to deform the dynamic manifold of the controlled plant into the desired manifold. In the hardware structure, the paper uses a self-designed kernel development board with PC-based HMI to execute the experiments. The control methods are designed by the combined kernel of DSP and FPGA. We also develop the PID control method in the development board to make comparisons. Moreover, the validation of this control architecture for a delta robot is verified successfully through the results of experiments. © 2013 IEEE. Source


Chen P.-H.,National Sun Yat - sen University | Huang C.-W.,Agile Energy | Lin C.-H.,National Sun Yat - sen University
Proceedings of the IEEE International Conference on Micro Electro Mechanical Systems (MEMS) | Year: 2014

Screen printing is one of the major techniques for producing printing circuit board (PCB) in electronic industry. However, it is difficult to produce small patterns using conventional screen printing technique due to the limitation of the woven mesh. This work successfully develops a novel process for fabricating ultra-thin stencil with a buffer reservoir utilizing the combination of AZ4620 positive photoresist (PR) and SU-8 negative PR as the electroplating molds. The developed ultra-thin stencil is 2.5 μm in thickness, which is much thinner than the typical thickness of the conventional stencils. The stencil is produced with nickel plating process with the hardness and tensile strength of 250 HV and 70 kgf/mm2, respectively. The printing result shows that the developed stencil capable to print high resolution and thin pattern. Good printing results will present in this paper. Silver paste line with the width of around 20 μm can be successfully printed on PET substrate. The method developed in this study provides a simple and low-cost way to produce high resolution metal stencil. © 2014 IEEE. Source


Chen Y.-C.,National Sun Yat - sen University | Wen C.-C.,Agile Energy
3CA 2010 - 2010 International Symposium on Computer, Communication, Control and Automation | Year: 2010

Based on the Lyapunov stability theorem, an adaptive controller is proposed for the inverted pendulum in this paper. The design of the robust controller can be used to suppress the uncertainties. The simulation results of inverted pendulum control have demonstrated the feasibility of the proposed method. © 2010 IEEE. Source


Chang C.-M.,Agile Energy | Siao J.-C.,National Pingtung University of Science and Technology
EVS 2010 - Sustainable Mobility Revolution: 25th World Battery, Hybrid and Fuel Cell Electric Vehicle Symposium and Exhibition | Year: 2010

With the ever rising price of oil, driven by the gradual depletion of global oil deposits, along with the serious global warming issues caused by substantial CO2 emissions, energy saving and environmental protection awareness are expanding issues of global concern. The trend of green energy industry is prevailing in the industrial design and development of vehicles. Therefore, electric vehicles focusing on low energy consumption and zero pollutant emission have become the development direction of the future, recognized in succession by various global vehicle manufacturing giants. The design methods of the Powertrain System for electric vehicles vary depending on different structures and arrangement methods of the vehicle; there are also two different practices in regard to the Drive System design. On one hand, as the powertrain characteristics of a traction motor differ from those of an engine, in order to make an electric vehicle which possesses the same performance as a traditional vehicle, it is required to match the traction motor with the transmission. On the other hand, being an electric vehicle, the number of traditional vehicle components used should be reduced, while only using a traction motor equipped with a single ratio gearbox. This study conducted an analysis on the performance discrepancy between an electric vehicle with 5-speed transmission and that with a single ratio gearbox, and compared their strengths and weaknesses by observing their performance in overcoming road loads through simulation. Source


Chen S.-H.,National Kaohsiung University of Applied Sciences | Chou F.-I.,Agile Energy | Chou J.-H.,National Kaohsiung University of Applied Sciences | Chou J.-H.,National Kaohsiung First University of Science and Technology
International Journal of Systems Science | Year: 2013

The robust controllability problem for linear interval systems with multiple control delays is studied in this article. The rank preservation problem is converted to the nonsingularity analysis problem of the minors of the matrix in discussion. Based on some essential properties of matrix measures, a new sufficient algebraically elegant criterion for the robust controllability of linear interval systems with multiple control delays is established. A numerical example is given to illustrate the application of the proposed sufficient algebraic criterion. © 2013 Copyright Taylor and Francis Group, LLC. Source

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