Please wait, while we are loading the content...
| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yen-Fang Li Chun-Wei Huang |
| Copyright Year | 2015 |
| Description | Author affiliation: Dept. of Elec. Eng., Ming-Hsin Univ. of Sci. & Technol., Hsinchu, Taiwan (Yen-Fang Li; Chun-Wei Huang) |
| Abstract | In this paper, a force controller design is considered for the fingers of the piano playing robot with a gain switched controller. Music playing robot is one kind of the service robots. In addition to playing music with the score, for a service robot, the robot, can play sweet sounds. In order to play a melodious music sound like musician, besides the robot can play the right note and right rhythm, the punching force of the fingers are controlled just right while the robot playing. In the proposed system, the finger is driven by a cylindrical linear motor. To play sounds of light, heavy, slow and anxious, the punching force of the finger is tuned according to the music score by controlling the cylindrical linear motor. Considering the playing requirements and load characteristics, the force controller is designed by a gain switchable controller to achieve the functions of force controllable and fast response. Also, the sound spectrum analysis is applied to analyze the quality of the robot's playing for the key punching and the force controlling in the viewpoint of frequency domain. Based on the sound spectrum analysis for a musician playing, the force controller of the finger is designed to lead the robot playing is closing to human playing. Through the FPGA-based implementation, each finger of the robot owns its independent control loop with parallel control structure designing to get the finger's action rapidly and precisely. From the experiments of the prototype, the results have given the verification about the practical control method and the realizable implementation. |
| Starting Page | 265 |
| Ending Page | 270 |
| File Size | 2029325 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781479944026 |
| ISSN | 21645264 |
| DOI | 10.1109/PEDS.2015.7203429 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-06-09 |
| Publisher Place | Australia |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Thumb Force Control systems Service robots Robot kinematics FPGA-based controller force control gain switched linear motor control piano playing robot |
| Content Type | Text |
| Resource Type | Article |
National Digital Library of India (NDLI) is a virtual repository of learning resources which is not just a repository with search/browse facilities but provides a host of services for the learner community. It is sponsored and mentored by Ministry of Education, Government of India, through its National Mission on Education through Information and Communication Technology (NMEICT). Filtered and federated searching is employed to facilitate focused searching so that learners can find the right resource with least effort and in minimum time. NDLI provides user group-specific services such as Examination Preparatory for School and College students and job aspirants. Services for Researchers and general learners are also provided. NDLI is designed to hold content of any language and provides interface support for 10 most widely used Indian languages. It is built to provide support for all academic levels including researchers and life-long learners, all disciplines, all popular forms of access devices and differently-abled learners. It is designed to enable people to learn and prepare from best practices from all over the world and to facilitate researchers to perform inter-linked exploration from multiple sources. It is developed, operated and maintained from Indian Institute of Technology Kharagpur.
Learn more about this project from here.
NDLI is a conglomeration of freely available or institutionally contributed or donated or publisher managed contents. Almost all these contents are hosted and accessed from respective sources. The responsibility for authenticity, relevance, completeness, accuracy, reliability and suitability of these contents rests with the respective organization and NDLI has no responsibility or liability for these. Every effort is made to keep the NDLI portal up and running smoothly unless there are some unavoidable technical issues.
Ministry of Education, through its National Mission on Education through Information and Communication Technology (NMEICT), has sponsored and funded the National Digital Library of India (NDLI) project.
| Sl. | Authority | Responsibilities | Communication Details |
|---|---|---|---|
| 1 | Ministry of Education (GoI), Department of Higher Education |
Sanctioning Authority | https://www.education.gov.in/ict-initiatives |
| 2 | Indian Institute of Technology Kharagpur | Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project | https://www.iitkgp.ac.in |
| 3 | National Digital Library of India Office, Indian Institute of Technology Kharagpur | The administrative and infrastructural headquarters of the project | Dr. B. Sutradhar bsutra@ndl.gov.in |
| 4 | Project PI / Joint PI | Principal Investigator and Joint Principal Investigators of the project |
Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon |
| 5 | Website/Portal (Helpdesk) | Queries regarding NDLI and its services | support@ndl.gov.in |
| 6 | Contents and Copyright Issues | Queries related to content curation and copyright issues | content@ndl.gov.in |
| 7 | National Digital Library of India Club (NDLI Club) | Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach | clubsupport@ndl.gov.in |
| 8 | Digital Preservation Centre (DPC) | Assistance with digitizing and archiving copyright-free printed books | dpc@ndl.gov.in |
| 9 | IDR Setup or Support | Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops | idr@ndl.gov.in |
|
Loading...
|