IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society最新文献_第2页

Manipulability servoing in null space for bilateral motion control of redundant manipulators 冗余机械手双边运动控制的零空间可操纵性伺服

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2011-12-01 DOI: 10.1109/IECON.2011.6119313

T. Shimono, Nobuyuki Togashi, N. Motoi, A. Kawamura

引用次数: 0

Novel stability analysis of variable step size incremental resistance INR MPPT for PV systems 光伏系统变步长增量电阻INR MPPT稳定性分析

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2011-12-01 DOI: 10.1109/IECON.2011.6119945

E. Ahmed, M. Shoyama

引用次数: 11

Development of a biarticular manipulator using spiral motors 螺旋电机双关节机械手的研制

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2011-12-01 DOI: 10.1109/IECON.2011.6119294

A. Shukor, I. Smadi, Y. Fujimoto

引用次数: 4

Parameter identification and passive direct drive control with magnetic levitation for IPM-type spiral motor ipm型螺旋电机参数辨识与磁悬浮被动直接驱动控制

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2011-12-01 DOI: 10.1109/IECON.2011.6119640

Tsubasa Suenaga, Y. Fujimoto

引用次数: 6

Task realization method based on modal space considering tool kinematics 考虑刀具运动学的基于模态空间的任务实现方法

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2011-12-01 DOI: 10.1109/IECON.2011.6119268

N. Motoi, T. Shimono, A. Kawamura

{"title":"Task realization method based on modal space considering tool kinematics","authors":"N. Motoi, T. Shimono, A. Kawamura","doi":"10.1109/IECON.2011.6119268","DOIUrl":"https://doi.org/10.1109/IECON.2011.6119268","url":null,"abstract":"In this paper, a task realization method based on modal space considering a tool kinematics is proposed. Modal space is a coordinate system which consists of the position/force tasks. In addition, position/force tasks are transformed from motor information by using task Jacobian matrix. In the conventional method, the various tasks are able to be obtained in the case of setting an appropriate task Jacobian matrix. However, the design method of task Jacobian matrix is not clarified. Therefore, only simple task was realized in the conventional researches. In this research, the design method of task Jacobian matrix is proposed. In order to design the appropriate task Jacobian matrix, kinematics parameters of the tool is put to use. Therefore, the task based on the tool is realized even if the motor configuration is asymmetry. Additionally, the virtual coordinate system is also proposed. The virtual coordinate system is defined at the point on the tool where the designer wants to control. Therefore, the various tasks by using the tool are easily able to be realized. The validity of the proposed method is confirmed by the experimental results.","PeriodicalId":105539,"journal":{"name":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115960708","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Vibration suppression of resonant system by using wave compensator 用波动补偿器抑制谐振系统的振动

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2011-12-01 DOI: 10.1109/IECON.2011.6120006

E. Saito, S. Katsura

引用次数: 15

Compensation of backlash for improving the efficiency of flexible actuator in bilateral teleoperation system 双向遥操作系统中提高柔性执行器工作效率的间隙补偿

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2011-12-01 DOI: 10.1109/IECON.2011.6120001

C. Mitsantisuk, K. Ohishi, S. Katsura

{"title":"Compensation of backlash for improving the efficiency of flexible actuator in bilateral teleoperation system","authors":"C. Mitsantisuk, K. Ohishi, S. Katsura","doi":"10.1109/IECON.2011.6120001","DOIUrl":"https://doi.org/10.1109/IECON.2011.6120001","url":null,"abstract":"Teleoperation systems provide human with the ability to interact unknown environment from a remote side which may be dangerous, hazardous, or difficult to access. This paper addresses the development of a bilateral controller for improving the efficiency of a flexible actuator. Based on various identification results from the different bending angles of thrust wire, the system model for a flexible actuator is established and formulated as a one-mass system with variable backlash and friction. When the thrust wire bends in the different angles, the dead-zone backlash characteristics are varied due to the contact surface between the inner wire and outer tube. Therefore it is not quite possible to compensate this non-linearity effects in a real-time. To overcome the inherent problem of backlash and vibration in the thrust wire, the load-side encoder is mounted to measure the end-effector movement. The information transformation technique called, a modal space design is proposed to achieve the targets of bilateral control and suppress this non-linearity effect of backlash. By using the proposed method, it is not necessary to estimate backlash parameters. This algorithm is verified through the identification and experimental results of master and slave robots with thrust wire.","PeriodicalId":105539,"journal":{"name":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121418429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Optimal dynamic quantizer based acceleration control with narrow bandwidth 基于最优动态量化器的窄带宽加速度控制

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2011-12-01 DOI: 10.1109/IECON.2011.6119722

D. Yashiro, Dapeng Tian, T. Yakoh

引用次数: 4

Planning and implementation of motion trajectory based on C2 PH spline 基于C2 PH样条的运动轨迹规划与实现

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2011-12-01 DOI: 10.1109/IECON.2011.6119319

I-Han Liu, M. Tsai, M. Cheng, Ke-Han Su

引用次数: 0

An approach for heat flux sensor-less heat inflow estimation based on distributed parameter system of Peltier device 基于Peltier装置分布参数系统的无热流传感器热流入估算方法

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2011-12-01 DOI: 10.1109/IECON.2011.6120000

Hidetaka Morimitsu, E. Saito, S. Katsura

引用次数: 6